Abstarct: In this thesis, the stability and the complete transparency of the system is provided by two local controllers in the presence of time delay and environment uncertainty, the former targeted at the slave system and the latter for the master system. For this goal, we utilize the Model Predictive Control (MPC) strategy to overcome the forward time delay, and also a modified smith predictor to compensate for the backward one. All through the design process, a unitary gain low-pass filter is considered to guarantee the stability of the overall system in the presence of uncertainty in backward time delay and environment. Also, a prefilter is designed such that it effectively reduces overshoots observed in the system. The simulations exhibit the novelty and the performance efficiency of the proposed control strategy.