ROBUST CONTROLLER-DESIGN FOR DELAY SYSTEMS IN THE GAP-METRIC

A robust stabilization problem in the gap-metric is discussed for a sy stem with delays in control. We derive a design procedure of robust co ntrollers based on finite-dimensional Ricatti equations and it is show n that the resulting controller has a structure of observer-based pred ictive action, By employing completing the square argument, a game the oretic interpretation is also provided on the trade-off between the in itial-uncertainties and attenuating the disturbance caused by plant un certainties,