Baras, John S.Patel, N.S.This paper considers the nonlinear Hcontrol problem for systems subject to delayed measurements. Necessary and sufficient conditions for the solvability of the problem are presented. We employ the concept of an information state to achieve separation between estimation and control. In particular, the information state derived is no longer the ﲷorst case cost to come function. We also briefly discuss certainty equivalence for systems with delayed measurements.en-USnonlinear systemsrobust controlsystem theorySystems Integration MethodologyTechnical Report