In modern cities, factories and high technology operations are run using distributed control. Distributed control involves the use of computer networks. Computer networks consist of computers on both ends, sensors, actuators, and communication links. However, control over computer networks faces many problems such as the delay and loss of control message and the delay or loss of sensor data. This paper proposes a new method such that the control system can handle the network delays and at the same time find an optimal controller. The method uses the modified zero-order hold to account for the delays and uses the linear matrix inequality optimization method to find the controller. This method also takes advantage of the polynomial representation of systems and constraints and places norm constraints on the problem
