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This paper is concerned with the problem of robust H infin filtering for linear continuous-time systems with polytopic parameter uncertainties and time-varying delay in the state. We utilize the polynomially parameter-dependent idea to solve the robust H infin filtering problem, with new linear matrix inequality conditions obtained for the existence of admissible filters. These conditions are developed based on homogeneous polynomially parameter-dependent matrices of arbitrary degree. The delay-dependence and polynomial parameter-dependence guarantee the proposed approach to be potentially less conservative, which is shown via a numerical example.