“…It turns out that the noise attenuation level guaranteed by an filter design without considering nonnegligible time delays may become invalid in the presence of time delays. Time delays often arise in many signal-processing related problems, such as echo cancellation, local loop equalization, multipath propagation in mobile communications, and array signal processing [2], [11], [15]. Several robust filtering approaches for linear systems with multiple time delays have been developed over the past few years [4], [7], [17], [18], [27], [31].…”