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In this paper, the guaranteed cost control problem is investigated for a class of nonlinear systems with Markovian jumping parameters and mixed time delays. The time delays involved consist of the mode-dependent discrete time delay and the distributed time delay with mode-dependent upper and lower boundaries; the associated cost function is a quadratic function, and nonlinear functions are assumed to satisfy sector-bounded conditions. By introducing new Lyapunov–Krasovskii functionals and some analytic techniques, the sufficient conditions for the existence of guaranteed cost controllers are derived for the systems and related cost function. Moreover, a linear matrix inequality (LMI) based approach to design the optimal guaranteed cost controller is formulated to minimise the guaranteed cost of the closed-loop system. Numerical simulation is further carried out to demonstrate the effectiveness of the proposed methods. [ABSTRACT FROM AUTHOR]