In the present article, a new modified delay-based control structure is proposed to improve the closed-loop performance of control systems. The controller is designed for a second-order linear time-invariant system. The controller parameters are tuned by using the integral of the absolute error criterion. Theoretical results are simulated and experimentally applied to an electromechanical system, which is identified with an interactive system identification tool. It is shown that the present controller provides better control measures and time domain specifications compared with the classical PID and PI-PD controllers in the presence of measurement noise as well as uncertainties.