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This work presents a study on the stabilization of a class of linear systems with bounded delays in the control input and system states. A methodology for the stabilization expressed in linear matrix inequalities (LMIs), where it is shown that the proposed stabilization theorem is able to maintain the system stability under some bounded time delay. LMI approach is the most popular due to it can be formulated into a convex optimization problem. Finally, the technique is applied to the steer-by-wire problem as a test bed, showing how it is possible to derive efficient controllers for realistic problems, using the proposed technique.