A　multi-constraint　performance　optimization　design　method　is　developed　for　tracking　control　systems　with　unknown　disturbances,　which　guarantees　a　prescribed　finite-frequency　H∞　disturbance-rejection　performance　and　takes　into　account　the　physical　constraint　of　actuators.　First,　a　generalized　equivalent　input　disturbance　(GEID)　estimator　is　adopted　for　more　design　degree　of　freedom.　By　using　the　Lyapunov　stability　theory　and　generalized　Kalman-Yakubovich-Popov　(KYP)　lemma,　a　sufficient　condition　is　derived　for　system　design,　which　takes　into　account　the　stability　and　performance　of　the　closed-loop　system　and　the　control　input　constraint.　In　addition,　by　optimizing　the　parameters　of　the　controller,　the　control　performance　is　greatly　improved.　Finally,　a　case　study　of　a　pantograph-catenary　system　is　used　to　verify　the　effectiveness　of　the　developed　method.　©　2023　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.