Table 2: Comparison of the maximum allowed time delay for different conditions.

7 10 15 20

Fridman and Shaked [6] (2005) 13 15 19 23
Gao and Chen [1](2007) 14 15 18 22
Zhang et al. [22] (2010) 15 17 21 25
Zhang et al. [23] (2011) 15 17 21 25
Corollary 6 18 19 24 27