This article develops an anti-windup (AW) scheme for systems with rate-limited actuators. The main results show how a full-order AW compensator can be synthesised using an algebraic Riccati equation and several free parameters. A further result then shows how the free parameters may be chosen to influence, in an intuitive way, the local [image omitted] gain of the system and the size of the region of attraction. The results are of interest due to their low computational burden and hence their applicability to the systems of large state dimension.