Hi,
I wondered about this as there are docs about it and it is not like "everybody 
complains".
Docs:
- https://help.ubuntu.com/lts/serverguide/advanced-installation.html
- https://help.ubuntu.com/community/Installation/SoftwareRAID

I tested that with a virtual guest for that I set up 3x20GB Disks.
I wanted to configure them the following way:
Partitions on Each
p1 = 1G
p2 = 19G

The small ones for boot on raid 1 (remember boot can only be raid 1, not 
5,6,...) as outlined in the links above.
disk1p1 - raid 1 boot
disk2p1 - raid 1 boot
disk3p1 - swap
The bigger part in a raid 5
disk1p2 - raid 5 /
disk2p2 - raid 5 /
disk3p2 - raid 5 /

Following the guides linked above with the described target in mind (to
prove that not only the most default setup works) I ended up in the
installer with this view:

RAID1 device #0 - 998.7 MB Software RAID device
                  998.7 MB     f  ext4    /boot
RAID5 device #1 - 40.9 GB Software RAID device
                   40.9 GB     f  ext4    /
SCSI1 (0,0,0) (sda) - 21.5 GB ATA QEMU HARDDISK
     #1  primary  999.3 MB  B  K  raid
     #2  primary   20.5 GB     K  raid
SCSI2 (0,0,0) (sdb) - 21.5 GB ATA QEMU HARDDISK
     #1  primary  999.3 MB  B  K  raid
     #2  primary   20.5 GB     K  raid
SCSI2 (0,1,0) (sdc) - 21.5 GB ATA QEMU HARDDISK
     #1  primary  999.3 MB     F  swap    swap
     #2  primary   20.5 GB     K  raid

>From there I let the installer finish his work and it was booting and
running right into the raid devices as it should.

So I wonder what exactly is the issue that is left these days with
Ubuntu 16.04?

** Changed in: grub-installer (Ubuntu)
       Status: Confirmed => Incomplete

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https://bugs.launchpad.net/bugs/1315344

Title:
  Grub install failed on disks with software RAID

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