Abstract: There is provided a method of configuring a closed-loop control system, the control system comprising a controller and a plant, the controller configured to provide an actuator signal to the plant, the controller configured to receive a reference signal (r) and a feedback signal (y), the feedback signal (y) derived from a state (x) of the plant, wherein a first state space representation of the control system includes at least one system delay, the method comprising the steps of: transforming the first state space representation of the control system into a second, augmented state space representation of the control system; configuring a control law (uT) based on the augmented state space representation of the control system, wherein the control law (uT) is configured to include at least one control term configured to compensate for at least one disturbance (d) to the control system, wherein the control law (uT) is configured to include a time-advanced or predicted reference signal (r) configured so that the