This paper presents an H$infty$ controller design method for linear systems with time-varying delayed states, inputs, and measurement outputs. Using a Lyapounov unctional , the stability for delay systems is discussed independently of time delays . And a sufficient condition for the existence of H$infty$ controllers of n-th order is given in terms of three matrix inequalities. Based on the positive-definite solutions of their matrix inequalities, we briefly explain how to construct H$infty$ construct H$infty$ controller, which stabilizes time-delay systems independently of delays and guarantees an H$infty$ norm bound.