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We consider the problem in which ABR sources share a bottleneck network node with other higher priority sources (e,g., CBR, VBR). An H∞ control theoretic approach to design an ABR feedback controller is presented, where the effects of the propagation delay and the high-priority traffic transmission are built into the control model. The resultant controller can (i) dynamically adapt the ABR source rates to the available capacity for ABR sources, (ii) minimize the variation of the bottleneck queue size around a predefined desired level, (iii) minimize the burstiness of the ABR source rate, and (iv) overcome potential instabilities due to large propagation delay. Theoretical and simulation results show a significant improvement on achievable throughput as well as on control stability.