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Although most of the control design methods assume unbounded control signals, real systems do have saturating actuators, which may degenerate closed-loop performance or even lead to unstable behavior. Additionally, the delay is generally almost ubiquitous in processes, that is also imposing performance and stability constraints. Our main contribution is to provide a controller design methodology for the stabilization of delayed systems under saturating actuators. Specifically, we address the design of non-Parallel Distributed Compensation (non-PDC) state feedback fuzzy control laws that locally stabilize a class of nonlinear discrete-time systems with state time-varying delay and saturating actuators. The proposed non-PDC control law depends on the current state x k and the state delayed by d¯ samples. Based on the Lyapunov–Krasovskii approach, we characterize the safe region of initial conditions through …