Time delay or dead time is defined as the response time required for a process/ a device when an input is applied. Dead time is a phenomena commonly occurring in industrial processes, biological systems and engineering applications. Transport lags, communication lags, computational delays are various types of time delays which inherently cause improper functioning of the system unless compensated for. Bilateral telemetry is one such application which faces instability in operation when subjected to time delay. The master robot in the virtual environment is ’motion and force coupled’ with the slave robot in the virtual environment. This bilateral feedback provides better tracking results as compared to the unilateral scenario at the cost of introducing a transport lag in the communication channel. The present work focuses on addressing this time delay using classical control methods to provide for stability in event of large time delays.