In this chapter, the comparison methods are applied to the design of controllers for dynamic systems in the presence of hard constraints on the input and/or state vector. First, the constrained regulation problem is studied, which consists of computing an admissible stabilizing control law and a sufficiently large domain of attraction. Then, the problem of constrained regulation with an a priori given domain of attraction is investigated. Finally, the problem of robust constrained control for systems subject to persistent exogenous disturbances is considered.