A new design technique is proposed to improve disturbance attenuation for systems with input saturation. The main results rely on a multiobjective approach which combines the quadratic stabilization technique with constraints on inputs. For the full-state feedback problem, the sufficient conditions for the feasibility of a high-gain controller are expressed in terms of linear matrix inequalities (LMI＇s). For output feedback design, the controllers are assumed to have an observer-based structure. The sufficient conditions far the output feedback controller to recover the full-state properties are also given in terms of LMI＇s.