Liacu, B.Koru, A. T.Özbay, HitayNiculescu, S. -I.Andriot, C.2016-02-082016-02-0820121474-6670http://hdl.handle.net/11693/28166Conference name: Proceedings of the 10-th IFAC Workshop on Time Delay Systems The International Federation of Automatic ControlDate of Conference: 22-24 June 2012In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H ∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. © 2012 IFAC.EnglishH-infinity optimizationPID controlStability limitsTeleoperationTime delayComplete stabilityController gainDelayed feedbackExperimental platformH-infinityHaptic systemsLocal dynamicsLow-order controller designMechanical dynamicsOptimal choiceOptimization techniquesPD controllersSecond ordersStability limitStability marginsTheoretical resultThree degree of freedomsDynamicsOptimizationRemote controlThree term control systemsTime delayConference Paper10.3182/20120622-3-US-4021.00049