Abstract: Based on LMI method and “Descriptor form”-based Lyapunov-Krasovskii functional, the problem of H∞ controller design is discussed for nonlinear time-delay control systems with uncertain input delay. Memoryless and memory state feedback control is designed, in which the estimate of the unknown delay parameter is contained in the memory part. At the same time, an adaptive control strategy for the unknown delay parameter of the input vector is proposed and the sufficient condition of its solution is also presented.