Recently, with the rapid development of modern engineering systems, the performance of control systems has become increasingly demanding. Input saturation and uncertainty of systems are commonly encountered in practical applications, inevitably degrading the system’s performance. Hence, robust analysis and design of parametric systems with input saturation are highly important to achieve high performance in control engineering. Although robust control for dynamic uncertainty is relatively well studied and numerous methodologies have seen great success in robust control design, they are still powerless in dealing with parameter uncertainty. This gap stems from the parameter uncertainty only occupying a tiny portion of the norm-bounded or passive model. Given this background, our research mainly focuses on conducting in-depth theoretical research on performance enhancement for parametric systems and/or actuator-saturated systems with the help of phase-shaping-based robust control. The proposed method solves the performance enhancement issues for parametric systems as well as input-saturated systems through theoretical analysis. Meanwhile, it clarifies the effectiveness and advantage of the proposed methods through simulations and experiments in several industrial systems.