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In this paper, an improved Hinfin performance criterion is derived for a class of time-delay systems. It partially rules out the technical restriction of using a single Lyapunov function, and therefore, is less conservative when used in robust performance analysis and synthesis problems. Based on the criterion, robust Hinfin state-feedback controller is designed. Furthermore, multichannel Hinfin dynamic output-feedback control problem is also considered. A numerical example is included to illustrate the obtained results.