H∞ loop-shaping procedure for multiple input delay systems

For multiple input delay systems, a robust stabilization problem in the gap-metric is solved and an observer-based predictive control law is clarified. Based on the control law obtained here, the H infin loop-shaping procedure is applied to some numerical examples and the effect of input time delay is discussed. It is also illustrated that the advantage of minimum phase structure in the delay-free plant is vulnerable to the transmission delay.