In this paper we develop output feedback controllers and fixed-order (i.e., full- and reduced-order) dynamic compensators for systems with actuator amplitude and rate saturation constraints. The proposed design methodology employs a rate limiter as part of the controller architecture. The problem of simultaneous control amplitude and rate saturation is embedded within an optimization problem by constructing a Riccati equation whose solution guarantees closed-loop global/local asymptotic stability in the face of sector bounded actuator amplitude and rate non-linearities. Application of the proposed framework is demonstrated via a flight control example involving actuator amplitude and rate saturation constraints.