The point stabilization problem for a robot-wheel is considered. The problem consists in synthesizing control torque in the form of feedback that brings the wheel from an arbitrary initial position on a straight line to a given one, with the control torque and the maximum velocity of wheel motion being constrained. To meet the phase and control constraints, an advanced feedback law in the form of nested saturation functions is suggested. Two of the four coefficients employed in the saturation functions are uniquely determined by the limit value of the control torque and the maximum allowed wheel velocity, while the selection of the other two coefficients can be used to optimize the performance of the controller. In this study, the optimality is meant in the sense that the phase portrait of the closed-loop system is similar to that of a stable node, with the asymptotic rate of decrease of the distance to the target point being as high as possible. The discussion is illustrated by numerical examples.