In this paper, state-feedback H-infinity control of systems with time-varying delay is considered. The time-delay is assumed to be a time-varying continuous function which is bounded below and above by positive constants. The reciprocally convex approach based on linear matrix inequality (LMI) optimization is adapted to design the H-infinity state feedback control law. For the illustrative examples the physical model of liquid monopropellant rocket motor with a pressure feeding system and the problem of controlling the yaw angles of a satellite system with delays are considered along with their numerical simulations to show effectiveness of derived results. Furthermore few other numerical examples are also given to illustrate the advantages of the derived results. (C) 2014 Elsevier Ltd. All rights reserved.