This paper investigatesH ∞ control design where the compensator is assumed to have immediate access to the command signal (usually denoted byW1) but not to the disturbance signal (denoted byW2). While the Doyle-Glover paradigm feeds only a plant outputYinto the compensator, in many industrial applications the command signal at timetcan be transmitted to the compensator at timetif there is any advantage to doing so. In this article we analyse both linear and nonlinear systems and find that the advantage of this control architecture is great. The results in this paper generalize those of Ballel al.(1993), Doyleet al.(1988) and Heltonel al.(1992). A necessary condition is given for the general nonlinear systems. These suggest formulas for controllers. For special cases such as when there is no disturbance signalW2or the system is linear, we have very satisfactory conclusions. In particular, for linear systems with uncertainty, we derive conditions for the solution of the robustH∞ control problem to exist.