For affine linear parameter variable systems with time delay, a delay-dependent memory state feedback controller is designed. Firstly, through constructing a parameter dependent Lyapunov function, delay-dependent conditions are derived to guarantee that the closed-loop system not only can be affine parameter quadratic stability, but also can satisfy robust _∞ performance index, and the calculating method of the memory state feedback controller is transformed to a convex optimization under LMI constraints, and then controller gain is obtained through solving a convex optimization problem. A numerical example is given to illustrate that the proposed memory state feedback controller robust performs better than the usual memory-less state feedback controller, and can effectively reduce the influence of time delay on the system. Finally, a metal removal process is used to demonstrate feasibility of the application of the memory state feedback _∞ controller in the physical instance.