Abstarct: This thesis studies a Linear Matrix Inequality (LMI) approach baxsed on Guaranteed Cost Control (GCC) for a class of bilateral teleoperation systems. The main contribution is to take into account the most important constraints in such systems including time-varying delay in the communication channel, model uncertainty in the master/slave robots or task environment and actuator saturation. First, a new structure is proposed for these systems baxsed on the state convergence technique. Then, sufficient conditions in terms of LMIs are identified to guarantee the system’s robustness and transparency against the system constraints. Then, the non-linearity property of the control input saturation is considered in the controller design in the presence of unknown constant time delay for the system. Then, an LMI-baxsed state-feedback control law for these systems is drived baxsed on the Razumikhin theorem. Simulation results demonstrate that the proposed controller can cope with the performance requirements appropriately.