This book is concerned with nonlinear control with performance-related and system-ability-related constraints. It presents novel work on several kinds of commonly encountered nonlinear systems, including those with stricter transient performance requirements, those with two types of constraints, those with no initial-condition limitation, and those with limited resources. It shows how nonlinear systems with severe constraints can be successfully controlled with our powerful control design. Typically, the book discusses a Tunnel Prescribed Control for achieving enhanced performance; provides a comprehensive solution, namely, Saturation-tolerant Prescribed Control, to handle the conflict between constraints; and then develops a Self-adjustable Prescribed Control to address the defined Entry Capture Problem that performance constraints are satisfied after (rather than from the beginning of) system operation. As such, the book will be of interest to researchers and graduate students in the fields of nonlinear systems, constrained control, and control engineering who would like to find out about the performance, robustness, and applications of constrained nonlinear systems.