In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication blackout. If communication blackout occurs, bilateral teleoperation system works normally. The validity of the proposed method is shown by numerical and experimental results.