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Control of time delay integrating systems is a challenging and ongoing research. In this paper a new structure for control of stable and integrating time delay systems is presented. The control design process is as simple as selection of some constant gains, for which simple formulae are introduced. The design methods are derived analytically, while no fractional approximation for the time delay term of the plant transfer function is used. Simulation, as well as, experimental studies reveal thedoi:10.1590/1679-78253032 fatcat:3i7uafots5gwlpv3x2gfga56im