An advanced teleoperator control system is designed based on the paradigm of telemonitoring and Smith principle. By incorporating the model of human dynamics reacting to visual and force feedbacks into the control loop, a systematic and analytic way of obtaining an optimal teleoperator controller supporting operator's ease of control as well as of designing an optimal human/machine interface is established. The designed teleoperator control system also provides a proper coordination between human operator and manipulators under shared control through monitoring force feedback. The Smith principle is used to construct an optimal teleoperator control system under time delay, which allows not only to interpret the role of simulators in teleprogramming under time delay but also to provide an analytic result of what kind of sensory information is required and how the sensory information is fed back to the human operator. Simulation results are shown.