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This work focuses on the delay-dependent robust H∞ control for uncertain linear systems with interval time-varying delays. The key features of the method include employment of a tighter integral inequality and construction of an appropriate Lyapunov–Krasovskii functionals (LKF). Meanwhile, the delay-dependent conditions with less conservatism are derived owing to the consideration of the information of the lower bound of time delay. Based on the obtained criteria, robust H∞ controller design and performance analysis for the uncertain system are presented. Some numerical examples are also provided to show the effectiveness and advantage of the main results.