Robust controller design for delay systems in the gap-metric

A robust stabilization problem in the gap-metric discussed for a system with delays in control. The authors derive a design procedure of robust controllers in the framework of finite-dimensional operations without any restrictions of the degree of plant dynamics and the number of input/output channels. The derived control law has a structure of observer-based predictive action and the gain parameters are constructively given based on finite-dimensional Riccati equations. By employing completing the square argument, a game theoretic interpretation is also provided on the trade-off between the initial-uncertainties and attenuating the disturbance caused by plant uncertainties.