The problem still occurs, but there is workaround that works for me: 
#shutdown
sudo initctl start rc RUNLEVEL=0 

#reboot
sudo initctl start rc RUNLEVEL=6 

It is not clear to me, that upstart rc task is stopped after the system
was run. All processes started by rc are run so rc should alsrc task
looks only as a kind of kick-starter and nothing more.

thinkpad ~$ sudo initctl status rc
rc stop/waiting

upstart in newest Ubuntu 9.10 is not quite stable. It requires more
efforts in my opinion, but I may be wrong certainly. Maybe the problem
stays somewhere else.

-- 
[Karmic] Hangs during shutdown with kernel 2.6.31-7
https://bugs.launchpad.net/bugs/418509
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