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In this paper we address the problem of determining the effect of the timing of the antiwindup compensation on the stability of a class of nonlinear systems. Besides proposing a new and less conservative synthesis framework, we move forward and compare the impact of antiwindup compensation when it occurs immediately or it is delayed. The class of systems considered are input saturating linear systems with known and constant time delay in both the input and the states. The synthesis of these antiwindup compensators is carried out on a linear matrix inequality (LMI)‐based framework whose development is based on the use of a Lyapunov–Krasovskii functional, a generalized sector condition, and a negligibly constrained usage of the Finsler Lemma. We compare results by computing the upper bound of the ‐norm on the admissible disturbances for which the system trajectories are assured to be bounded.