In this paper, by the Lyapunov stability criterion and the Riccati equation, we derive a new procedure for determining a linear control law to stabilize an uncertain system. The main features of this approach are that no precompensator is needed, the required feedback gains are small and the uncertain system can be exponentially stabilized with any prescribed exponential rate. In addition, the robust control law can be made linear quadratic optimal with respect to an index function for the nominal system. Two examples are given to illustrate the results.