This paper deals with a catalytic continuous stirred tank reactor example, modeled as a two-input constrained nonlinear system. Under the Lyapunov-based linearization strategy, the saturation-type parameterized control design can reduce the effect of actuator subject to amplitude and rate constraints. Using the two-input control framework, it turns out to be robust against unknown disturbances, and it also ensures the asymptotic output regulation. For the purpose of practical implementation, the adaptive-like control methodology is developed. A reduced-order nonlinear observer plus the integration of both controllers is synthesized. Our results are illustrated via numerical simulation. (C) 2003 Elsevier Science Ltd. All rights reserved.