Dead-time or delay is a common problem in the processing industry. Sensors, actuators and transport phenomena often contribute to delay the process response or to prevent immediate action. Current control technology offers various alternatives to analyze and control delay systems. Among the most widely applied techniques are internal model control (IMC) and, to a lesser extent, model predictive control. Although these methods are useful in the control of most delay systems, they can be greatly affected by a poor knowledge of the dead-time. In the study of nonlinear systems, the problem of delay dependent designs remains unresolved. In the current paper, a sufficient condition is obtained for the existence of a state-feedback controller that guarantees stability for a class of nonlinear state-delay control systems.