Abstract: The problem of delay-dependent robust H∞ control for systems with state-delay was investigated. An improved delay-dependent bounded real lemma (BRL) was established in terms of linear matrix inequalities (LMIs) by using augmented Lyapunov functionals and free-weighting matrices method, ensuring the resultant closed-loop system asymptotically stable and a prescribed H∞ performance level. Based on the obtained BRL, the state feedback H∞ control law with memory was given in terms of the feasible solutions of LMIs. When the time-varying norm-bounded uncertainties appeared in a time-delay system, the explicit design approach of the robust H∞ controller was also given and formulated in the form of LMIs. Numerical examples are provided to demonstrate the reduced conservatism and validity of the proposed conditions.