Time-domain passivity control (TDPC) is a widely used reliable approach to ensure the stability of the teleoperation systems. Although TDPC almost guarantees the stability of the system. there can be a possibility of instability as TDPC inherits the zero division problem in its conventional control laws. Low value force or velocity signals can lead to zero division in control laws and... https://www.allfixelectricales.shop/product-category/spdt-48v-relay/