Delay dependent Stability analysis of Teleoperation Systems via input output approach

In this paper the stability analysis problem of bilateral teleoperation systems with time varying delay is studied. By using the scaled small gain theorem (SSG) with three therms approximation of delayed state, and choosing adequate Lyapunov-Krasovskii (L-K) functional a new stability criterion is expressed in terms of linear matrix inequalities. The criterion can be easily examined using standard numerical simulation.