To solve the problem of fault-tolerant control for saturating system, a design method was presented to estimate the attraction domain of the saturating system with constraints of D-stability. Based on the volume of the invariant set and the reference set, two sufficient conditions were given to optimize the fault-tolerant invariant set. To solve the BMI resulting from the optimization problems, an algorithm was provided by constructing proper objective functions which incorporate the LMI, and turning the BMI to the nonlinear programming problems. The simulation results verified the effectiveness of the proposed approach.