What is the setting of Lioness Rampant by Tamora Pierce?

This story takes place in a fantasy land. The story begins in the kingdom of Tortall, where Alanna and her companions are from. They head out of Tortall into Tusaine, then into Sarain on a quest for the Dominion Jewel. The technology and social development of the time in this story is similar to our own middle ages. Here, magic is real, and is a big part of society.