Your closest direct approximation is a join with a correlated sub-query as the predicate.
SELECT
ORD.ID
,ORD.NAME
,ORD.DATE
,ORD_HISTORY.VALUE
FROM
ORD
INNER JOIN
ORD_HISTORY
ON ORD_HISTORY.<PRIMARY_KEY>
=
(SELECT ORD_HISTORY.<PRIMARY_KEY>
FROM ORD_HISTORY
WHERE ORD.ID = ORD_HISTORY.ID
AND ORD.DATE <= ORD_HISTORY.DATE
ORDER BY ORD_HISTORY.DATE DESC
LIMIT 1
)
In your case, however, you only need one field from the target table. This means that you are able to use the correlated sub-query directly in the SELECT statement.
SELECT
ORD.ID
,ORD.NAME
,ORD.DATE
,(SELECT ORD_HISTORY.VALUE
FROM ORD_HISTORY
WHERE ORD.ID = ORD_HISTORY.ID
AND ORD.DATE <= ORD_HISTORY.DATE
ORDER BY ORD_HISTORY.DATE DESC
LIMIT 1
) AS VALUE
FROM
ORD
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