Liacu, B.Koru, A. T.Özbay, HitayNiculescu, S. -I.Andriot, C.2015-07-282015-07-282013-050967-0661http://hdl.handle.net/11693/12913In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H∞ and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results.EnglishH-infinity OptimizationHapticsPid ControlStability LimitsTeleoperationTime-delayArticle10.1016/j.conengprac.2013.01.001