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This study addresses the control of a class of continuous-time systems subject to both sensor saturation and failure and additive L2 -bounded disturbances. Such systems have time delay in their state equations and saturation in their output equations. Attention is focused on the analysis and the synthesis problems of a reliable H∞filter such that the filtering error is asymptotically stable. New results for H∞filter are proposed by means of linear matrix inequalities (LMIs)-based optimisation approach. Based on the Lyapunov-Krasorskii stability theorem and the linear matrix inequalities (LMI) techniques, solutions can be found. Dynamical filter architecture is proposed, and the linear filter designed by the method can guarantee the performance. A numerical example is given to illustrate the effectiveness of the proposed results.