In this paper, a tracking control problem in the presence of actuator saturation is addressed. Firstly, a control law that guarantees both closed-loop stability and asymptotic convergence of the tracking error in the case of a constant reference signal is introduced. The feedback gain of the control law is adjusted, at each sampling time, so that both large region of attraction and fast convergence of the tracking error are achieved. Secondly, based on the control law, a control algorithm that can be used for arbitrary time-varying reference signals is proposed. The most important feature of the proposed control algorithm is that the overshoot of the plant output can be effectively attenuated. Moreover, the effectiveness of the proposed control algorithm is shown through experimental results.