A general framework for the design of multivariable control systems subject to hard constraints on each control channel is developed. The design procedure is based on the H-infinity loop shaping and relies on the calculation of the maximum possible control amplitude for a class of reference signals, bounded in amplitude and rate. Special attention is given to adjustment of the design weights in order to meet prescribed bounds on each control signal. A simulation example, the control of the vertical dynamics of an aircraft, illustrates the suggested procedure.