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The problems of optimal control for sampled-data systems with time-delays and applications in active suspension vibration systems are considered. The optimal control law is derived from a Riccati equation and a Stein equation. The feedforward control and control memory terms compensate for the effects of disturbance and actuator delay, respectively. An observer is constructed to make controller physically realizable. A half-car suspension model with actuator and sensor delays is established to simulate the controller's application. Suspension responses illustrate the effectiveness of the proposed controller.