This work examines the stabilization and output tracking of a class of nonlinear systems in the presence of parametric uncertainty, unobservable dynamics and time delay. The proposed method minimizes the tracking error and guarantees delay independent stabilization by means of a modified input output linearization method, which in turn is modelled using the Mean Value Theorem approach. Also a comparison is made herewith a previous method [1] through the same design example to illustrate the effectiveness of the proposed method.