Minimum energy control of systems with time delay

The problem of minimizing the cost functional corresponding to minimum control energy
I = \int\min{0}\max{\infty}u^{2} dt
for the linear system with delay
\dot{x}(t) = Ax(t) + Bx(t - h) + cu(t)
is considered. From sufficient conditions for optimality, one obtains a set of algebraic equations. Numerical solution of these equations yields the optimal control law.