This note addresses the problem of local stabilization of linear systems subject to control amplitude and rate saturation. Considering the actuator represented by a first-order system subject to input and state saturation, a condition for the stabilization of an a priori given set of admissible initial states is formulated from certain saturation nonlinearities representation and quadratic stability results. From this condition, an algorithm based on the iterative solution of linear matrix inequalities-based problems is proposed in order to compute the control law.