This paper studies the problem of controller synthesis for systems subject to amplitude and rate saturation constraints in the actuators. The main approach assumes that each actuator has a dynamic model of order at least one. The controllers presented here are only state feedback, though extension to the output feedback is also possible. The solvability conditions for the problem are expressed as finite-dimensional linear matrix inequalities. In addition to stabilization, disturbance attenuation in terms of the L₂ gain from the disturbance to output is considered.