This paper presents new integrated approach to the control design of SISO systems with constrained input. It is based on generalisation of several well approved control concepts: Of the bang-bang” minimum time control [1,4,16,18], of the linear pole assignment control [2,5], of the Smith predictor [18], of the controller tuning corresponding to a double real closed loop pole by Oldenbourg and Sartorius [15] and that of the process reaction curve approximation by Ziegler and Nichols [20]. All these up to now separately treated techniques are integrated into unique approach and shown to represent its special limit solutions. The new concept is built up on introduction of dynamical classes of minimum time pole assignment (MTPA) control, corresponding to the well known Feldbaums theorem [4] about n-interval of optimal control. All possible control structures are classified according to the number of intervals in their control sequences. ©1999 American Institute of Physics.