Robust controller design for delay systems in the gap-metric

A robust stabilization problem in the gap-metric is discussed for a system with delays in control. The authors derive a design procedure of robust controllers based on finite-dimensional Ricatti equations and it is shown that the resulting controller has a structure of observer-based predictive action. 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