In this study, a delay-dependent memory state-feedback controller for linear systems with input time-delay in the presence of external disturbance has been investigated. At first, a new formula is introduced to obtain the prediction vector from the system dynamics and then by using this formula, the effect of input time-delay on the original delayed system is reduced. To guarantee the prescribed disturbance attenuation level of the closed-loop system, Lyapunov theory and linear matrix inequality (LMI) approaches are used. In the case of feasibility, sufficient LMI conditions provide the stabilising gain of the predictor-based controller. To illustrate the effectiveness of the proposed method, it is applied to a quarter-car model of an active suspension system considering the actuator time-delay.