This paper considers the prediction of chaotic behavior using a master-slave synchronization scheme. Based on the stability theory for retarded systems using a Lyapunov-Krasovskii functional, we derive a sufficient condition for perfect state prediction of the master system via a time-delayed output signal of the slave system. The obtained result is based on the delay-dependent stability of time-delay systems. In addition, we derive an upper bound of the admissible time delay by using linear matrix inequality techniques. Finally, we show the effectiveness of the proposed predictor by two numerical examples.