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 the former targeted at the slave system and the latter for the master system. The slave controller is a simple PD controller whose role is position tracking within the system. The master controller is a simple proportional controller that guarantees the stability of the closed loop system and has the force tracking role. Central to the proposed structure exists Smith Predictor (SP) that is implemented in two cases. In the first case a simple Smith Predictor is applied. The important property of robustness and disturbance rejection is not guaranteed. However, by some modifications and increasing the degrees of freedom by designing filters, decoupling between the setpoint response and disturbance rejection response happens. In addition, the system becomes robust to modelling uncertainties.Simulation results exhibit the effectiveness of the proposed approach.