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Link to original content: https://api.crossref.org/works/10.1177/0959651814520826
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First, we give a necessary condition for a proportional\u2013integral controller to stabilize the process with certain constant delay using Descartes\u2019 rule of signs. Then by employing the generalization of the Hermite\u2013Biehler theorem applicable to quasi-polynomials, a complete set for all stabilizing proportional\u2013integral parameters is derived to stabilize the open-loop stable and unstable systems. In the case of uncertain time delay, we provide a design approach to stabilize the related plant with a robust proportional\u2013integral controller, where the unknown but constant time delay lies inside a known interval. 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