Analytical Boundaries of Controller Gains for Delay-independent Stability of LTI Systems with Single Output Delay

We present a controller-design strategy for linear time invariant (LTI) systems with a single output delay. This strategy is based on the discriminant calculations of polynomials associated with the stability transitions of the LTI system at hand. It reveals the closed-form solutions only in terms of controller gains, for which the system at hand remains delay-independent stable, and it allows preserving the controller structure while complying with the necessary and sufficient conditions of delay-independent stability (DIS).