This paper concerns the problem of stabilizing linear time-delay systems under state and control linear constraints. For this, necessary and sufficient conditions for a given polyhedral set (possibly non-symmetrical) to be positively invariant are obtained. The existence conditions of linear state feedback control laws respecting the constraints are established, and a procedure is given in order to compute such a controller. The paper presents memoryless controlled systems but the results can be applied to cases of delayed-controlled systems. An example is given.