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Analysis and control of master-slave systems with time delay

Time delay usually makes master-slave systems unstable, even if the system is stable under no time delay. In this paper, we propose a control scheme for master-slave systems with time delay which maintains stability defined by scattering theory. We define four types of realization of the ideal response and describe control schemes which strictly realize the ideal response. Based on these schemes, we propose a practical control scheme and its stability is proven. We also discuss stability of conventional schemes, and show that they cannot maintain stability. Finally, some experimental results are presented.