Abstract
In this paper, the Generalized Kharitonov Theorem for quasi-polynomials is exploited for the purpose of synthesizing a robust controller. The aim here is to develop a controller to simultaneously stabilize a given interval plant family with unknowing and bounded time delay. Using a constructive procedure based on Hermite-Biehler theorem, we obtain all PI gains that stabilize an uncertain first-order delay system. An application example is presented for the temperature control of a heated air stream, process trainer PT326.