Given a SISO (single-input single-output) system with arbitrary poles and zeros in the closed right half plane and having time delay uncertainty, the question arises as to the maximum time delay margin available before the closed-loop system becomes unstable when an arbitrary controller is connected to the SISO system in the closed loop. The authors provide a solution to this problem and show how to derive the controller corresponding to the optimum condition. The method of solution is based on general framework of P.P. Khargonekar and R. Tannenbaum (1985) for the robust stabilization of SISO systems with parameter uncertainty using Nevanlinna-Pick interpolation theory and the theory of conformal mapping.
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