Yeğin, M. O.Özbay, Hitay2018-04-122018-04-1220162405-8963http://hdl.handle.net/11693/36829Numerical computation of H∞ controllers for time delay systems has been a challenge since 1980s. Even though significant techniques are developed to obtain direct optimal controllers, application of these methods may require manual computation depending on the plant. In this paper, an alternative computational technique is proposed for direct optimal controllers originally obtained by Toker and Özbay (1995). The new controller expression contains finite dimensional transfer functions and an infinite dimensional term, which is stable. Thus it is suitable for finite dimensional approximations and practical non-fragile implementations. In this method, in order to eliminate manual computation of the plant factorization for neutral and retarded delay systems YALTA (a tool developed at INRIA) is used. The new controller computation is implemented in Matlab, and it is illustrated on an example. © 2016EnglishH∞ controllerInfinite dimensional systemsNeutral and retarded systemsRobust controlTime-delay systemsClosed loop systemsControllersDelay control systemsRobust controlComputational techniqueFinite dimensional approximationInfinite dimensionalNumerical computationsOptimal controllerRetarded systemTime delayArticle10.1016/j.ifacol.2016.07.523