This research describes a novel Delay Minimisation Algorithm (DEMA) for traffic signal control, which operates without a predetermined stage order. The paper includes a technical review of the problems surrounding a more flexible system compared to the traditional `cycle based' approach. Applying DEMA to a case study intersection (currently controlled by MOVA) resulted in statistically significant improvements in performance across a range of demand scenarios. During congested conditions, there was a reduction of 5.62% in mean delay and up to a 22.17% reduction during lower demand scenarios. The mean journey time also reduced, ranging from a 3.52% to a 24.01% reduction.