The authors investigate a regulation problem of non-linear systems driven by an exogenous signal and time-delay in the input. In order to compensate for the input delay, they propose a reduction transformation containing the past information of the control input. Then, by utilising the Euler approximation, the original system is approximated to be delay-free with the standard form of singularly perturbed systems. Gain scheduled controller is constructed based on this approximated model to reduce the effect of the exogenous signal. Illustrative examples demonstrate a better performance of their proposed scheme compared with a conventional one.