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This paper is concerned with the design of robust active queue management (AQM) controllers for a class of TCP networks. In TCP/IP networks, the packet-dropping probability function is limited between 0 and 1. Therefore, a TCP network with AQM controller was modeled as a rate-based non-linear system with a saturated input. The nonlinear output feedback AQM controller is proposed for achieving the desired queue size and guaranteeing asymptotic stability of the operating point. The performance and effectiveness of the proposed control laws are validated for serial network scenarios through numerical simulations by Network Simulator-2 (NS-2). Simulation results confirm that the proposed scheme outperforms other AQM schemes.