This paper deals about the robust stabilization of uncertain systems with timevarying state delays in the delay dependent framework. The system is represented using LFR and stability is deduced from Lyapunov-Krasovskii theorem and full-block S-procedure. We derive sufficient conditions to the existence of a robust H∞ state-feedback control law. As this sufficient condition is expressed in terms of NMI we propose a relaxation based on the conecomplementary algorithm which is known to lead to good results for such problems. We show the efficiency of our method trough an example.