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SUMMARYPractical and asymptotic stabilization is investigated for a class of uncertain nonlinear a$ne control systems subject to constraints on the control inputs. The uncertain systems are modelled as non-linear perturbations to a known non-linear idealized system and a problem formulation based on di!erential inclusions is adopted. A class of constrained generalized state-feedback controls (containing both continuous and discontinuous selections) is developed, which guarantees stabilization with a speci"ed region of attraction. In the presence of residual uncertainty, su$cient conditions for global stabilizability are presented, whilst local results are obtained by relaxing these conditions.