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The time interval is \\([0,t_ g]\\) and the system is described by the vector differential equation  \\[ \\dot x=A(t)x+B(t)u(t)+D(t)w(t), x(0)=0, \\]  where \\(U(t)=\\mu(t,x(t_ 0),x(t_ 1),\\dots,x(t_ k))\\), \\(t_ k\\leq t<t_{k+1}\\); \\(\\mu\\) is piecewise continuous in its arguments, \\(t_ 0,\\dots,t_{K-1}\\) is such that \\(0=t_ 0<t_ 1<\\dots<t_{K-1}<t_ g\\). \\(M_ s\\) denotes the set of all such controllers (\\(S\\) for sampled). Finally \\(W_{[0,t_ g]}\\) denotes the \\(m\\)-dimensional disturbance, taken to be square-integrable on \\([0,t_ g]\\); \\(H_ w\\) denotes the Hilbert space of such functions, with \\(\\| w\\|^ 2=\\int_ 0^{t_ g}w^ T(t)w(t)dt\\). The quadratic cost function is:  \\[ L(u,w)=x(t_ g)^ TQ_ gx(t_ g)+\\int_ 0^{t_ g}[x(t)^ TQ(t)x(t)+u(t)^ Tu(t)]dt. \\]  For each fixed \\(\\mu\\in M_ s\\), \\(L\\) induces a natural mapping of \\(H_ w\\) on to the positive reals, denoted by \\(G_ \\mu\\). The minimax (\\(H^ \\infty\\)- optimal) controller design problem is to find a controller \\(\\mu\\) which minimizes  \\[ g(\\mu)=\\sup_{w\\in H_ w}\\{(G_ \\mu(w))^{1/2}/\\| w\\|\\}. \\]  A complete solution is then obtained to this problem; in a second part the limiting behaviors of the finite-horizon \\(H^ \\infty\\)- optimal controller \\(\\mu^ s\\), and the attenuation bound \\(\\gamma^ s=\\inf_{\\mu\\in M_ s}g(\\mu)\\) as \\(t_ g\\to+\\infty\\) are studied. Finally an example is provided to illustrate the results in both finite and infinite horizyon.   The basic approach is game theoretic, by associating a particular differential game, and is characterized in term of the solution of a particular generalized Riccati differential equation, with the optimal performance determined by the conjugate point conditions associated with a family of generalized Riccati differential 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