This paper proposes an analysis and design methodology for the robust control of affine-in-control nonlinear systems subject to actuator saturation in discrete-time formulation. The robust stability condition is derived for the closed-loop system by the introduction of the fuzzy Kronecker delta. Based on the newly acquired stability condition, a design method is proposed to guarantee the robust H∞ performance. In the design, LMI-based pole placement is employed to use the freedom allowed in the selection of the controller. The validity of the proposed method is asserted by the computer simulation.