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To improve the interception performance in missile guidance applications, this paper proposes a novel control strategy for the integrated guidance and control design subject to input constraints. The system constraints are translated into a restriction in an invariant set, which is then enforced by manipulating the derivative of the applied reference. For the integrated system in the presence of disturbances and parametric uncertainties, disturbance observers are applied to estimate the lumped disturbances existing in each loop. The quadratic stability via dynamic surface control is guaranteed, and an ellipsoidal approximation of the invariant set is obtained, which can be enlarged to allow some degree of the input saturation. The effectiveness of the proposed scheme is illustrated using numerical simulations against a maneuvering target. [ABSTRACT FROM AUTHOR]