This paper is concerned with the control synthesis problem for systems with time-varying delay and actuator saturation. A new controller design method is proposed in which auxiliary feedback matrix method is adopted to handle the saturation term in the system. The improvement of the proposed method lies in the application of delay partitioning idea to further enlarge the estimated domain of attraction. All the results are given in terms of linear matrix inequalities. Finally, a numerical example is provided to demonstrate the effectiveness and superiority of our obtained results. This paper is concerned with the control synthesis problem for systems with time-varying delay and actuator saturation. A new controller design method is proposed in which auxiliary feedback matrix method is adopted to handle the saturation term in the system. The improvement of the proposed method lies in the application of delay partitioning idea to further enlarge the estimated domain of attraction. All the results are given in terms of linear matrix inequalities. Finally, a numerical example is provided to demonstrate the effectiveness and superiority of our get results.