In this work, we deal with the time-delay system with uncertainty. The feedback controller can be designed by optimal method. Here we concerns a problem of robust H-∞ control for uncertain systems with time-varying delay, and The time-delay is time-varying and unknown but is norm-bounded. A new delay-dependent robust H-∞ controller is presented in terms of matrix inequalities (LMI). In this book, the H∞ control law is assumed to be a memory less state feedback and is on the size of time derivative. The close-loop system with the designed controller is asymptotically stable and guarantees the H∞ norm-bound for all the admissible uncertainties. As a result, we obtained the allowable delay time for the system with Time-varying uncertainty with time-varying disturbance and designed a feedback controller to further ensure its stability.