This paper addresses the problem of delaydependent robust H ∞ control for uncertain systems with state and input delays. By using the delay partitioning technique, an improved criterion is proposed for uncertain systems with state and input delays in terms of linear matrix inequalities (LMIs), which guarantees the time-delay systems satisfy a prescribed H∞ norm bound constraint for admissible uncertainties. Moreover, based on this criterion, the expressions of the desired state feedback controllers are obtained such that the closed-loop system is robustly stable with an H∞ norm bound γ. A numerical example is given to demonstrate the effectiveness of the method given in the paper. ©2010 IEEE.