Algorithm 1 Optimization algorithm with limited computation resources.

Offline Computation Step 1off Synthesis of the auxiliary controller satisfying Assumption 4. Step 2off Computation of the minimum decay rate $\widehat{\alpha }$ and the maximum gain $\widehat{c}$. Step 3off Discretization of the closed-loop system for all times $mh$, $m\in \mathbb{N}$, which satisfy $0\le mh\le T_s$. Online Computation Step 1on Reception of the output signal $y\left(k{T}_s\right)$ with a delay ${\tau }_{sc}\left(k{T}_s\right)$. Step 2on Estimation of the state of the plant from the output. Step 3on Decision of the number of input signals $n_{\mathrm{opt}}$ to be optimized as function of the available computation. Step 4on Optimization of the decay rate as function of the times of application of the input signals maintaining the auxiliary controller. Step 5on Computation of the maximum and minimum bounds to the actual input signals in Assumption 3. Step 6on Optimization of the decay rate as function of the values of the input signals maintaining constant the times obtained in Step 4on.