In this paper, the design of an output predictor for systems with scarce irregular measurements with time varying delays is addressed. A model based predictor that takes into account the past measured outputs is used. Robustness of the predictor to the time varying delays and data availability as well as disturbance attenuation is dealt with via H-infinity performance. A design strategy is proposed based on the available disturbances information. (C) 2006 Elsevier Ltd. All rights reserved.