In this paper, we discuss the problem of guaranteed cost control for uncertain linear systems subject to actuator saturation. Based on the quadratic and non-quadratic Lyapunov functions, sufficient conditions for the robust stability and performance are derived. Moreover, all the conditions can be expressed as linear matrix inequalities (LMIs) or bilinear matrix inequalities (BMIs) in terms of the feedback gain. Thus, the static controller can be effectively synthesized via convex optimization. A numerical example illustrates the effectiveness of the method. Based on the quadratic and non-quadratic Lyapunov functions, sufficient conditions for the robust stability and performance are derived. Moreover, all the conditions can be expressed as linear matrix inequalities (LMIs) or bilinear matrix inequalities (BMIs) in terms of the feedback gain. Thus, the static controller can be rather synthesized via convex optimization. A numerical example illustrates the effectiveness of the method.