This paper make a systematic exposition of the modern optimum control theory of the SISO system with delay, there are the basic principle of twice optimum control, robustness, a law of run in the opposite direction and global satisfied control in the paper. In the every subject under discussion there are some relevant examples. The results shown that employing there theories to design a SISO
... [Show full abstract] system with delay, that can get very good performances not only for the reference signal but also for uncertain parameters and load disturbances. Especially it has special value for the system with uncertain and long delay.