This chapter looks at the problem of designing dynamic output feedback controllers for time-delay systems via the novel application of using generalized functional observers to directly realize a general state feedback control law, \(u(t)=Fx(t)+F_dx(t-\tau )\) , for time-delay systems. The objective of the control law is to ensure that one of the selected outputs of the system asymptotically tracks any step (or ramp) reference command input. Via several numerical examples, we show the advantages of our approach via estimating u(t) directly. With our approach, we can have a simpler observer-based control scheme with lesser hardware components and better transient responses. This finding, again, highlights the significance of the generalized functional estimation problem reported in this book.