In this paper, a robust guaranteed cost control is designed for linear systems with multiple pointwise and distributed state delays, when it is considered the presence of a perturbation that satisfies the matching condition. This result is carried out by combining a complete type Lyapunov-Krasovskii functional, a quadratic cost function, and the Lyapunov redesign technique. The obtained nonlinear state feedback is composed by three control laws: the first one stabilizes the nominal system (a new algorithm is presented), the second one is such that an upper bound of a cost function is guaranteed, and the last one compensates the perturbation effects, ensuring the robust stability of the closed loop system. In order to validate the proposal, numerical simulations are presented, and the controller is applied to regulate a real time dehydration process temperature, implemented on an industrial Programable Automatic Control NI cDAQ - 9132. (C) 2019 Elsevier Ltd. All rights reserved.