Abstarct: In designing a teleoperation system, the primary purpose is creating a secure relationship between the Master and the slave system, so that the operator will have the best possible position to perform their remote. These targets are expressed in terms of stability and transparency. In this thesis, two local controller for teleoperation systems are designed. The first controller, the slave controller is called the responsible for position tracking, While the second controller, the master controller is called the chief task of the overall closed-loop system stability and force tracking is responsible for force tracking. The master of the slave manipulator and methods for PID and H∞ loop shaping is one of the effective methods that is used robust controllers. Then, because the controller designed by H∞ loop shaping is a complicate and high-order, the master controllr uses a fixed-structure for parameters derived using intelligent algorithms. Simulations show good performance of the proposed controller.