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The authors deal with the problem of delay-dependent guaranteed cost control for uncertain linear systems with time-varying delays in both the state and the input. The purpose of this is to design state-feedback controllers such that the resulting closed-loop system is robustly stable, and a specified linear integral-quadratic cost function has an upper bound for all delays in the given intervals. Two types of the time-varying delays are considered. Delay-dependent sufficient conditions for the solvability of the problem are developed in terms of matrix inequalities. By the cone complementary linearisation method, desired state-feedback controllers can be constructed. A numerical example is provided to demonstrate the applicability of the proposed method.