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For a known delay valueτ present in the loop of a DC motor speed-control system, an approach is presented here for this system in order to compute the system's controller gains that create marginal stability in the system precisely for τ . These gains which guarantee system stability for all delays less thanτ are then verified experimentally. Numerical analysis is then performed to select the optimal gains rendering shorter settling time in the experiments, which also closely match with the simulations.

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Around a benchmark open-loop unstable LTI plant with a single delay, we design controllers that create marginal stability of the closed loop at a pre-defined delay margin value τ. These controllers therefore guarantee system stability for all delays less than τ. Case studies covering various scenarios are presented.