This paper presents a delay-based output feedback control method, which, through placement of the zeros of the overall loop transfer function, is capable of realizing any full state feedback control algorithm with arbitrarily small errors. A systematic way for designing the delayed feedback controller is provided. Compared to full state feedback controls, LTR output feedback controls, the delayed output feedback is less sensitive to high frequency noises as it has much lower high-frequency gain. Also, the closed-loop bandwidth with the delayed output feedback can be much wider than that with full state feedback. A case study shows the effectiveness of the proposed control method.