VI 5.3 Proof of the measurement-feedback result. 144 5.4 Relaxation of the a priori assumptions .. 165 5.4.1 Including the feedthroughs . . . . . 165 5.4.2 How to 'remove' the regularity assumptions 174 6 Examples and conclusions 177 6.1 Delay systems in state-space . . . . . . . . . . 177 6.1.1 Dynamic controllers for delay systems. 180 184 6.1.2 A linear quadratic control problem . . 6.1.3 Duality ............... . . 189 6.2 The mixed-sensitivity problem for delay systems 192 6.2.1 Introduction and statement of the problem. 192 6.2.2 Main result .............. . 194 6.3 Conclusions and...