This paper proposes a novel method to realize simultaneity property and operational force reduction in a bilateral control system under communication delay. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator, regarded as the next-generation communication tool transmitting force sensation. However, communication delay between the systems destabilizes the whole control system and the performance is also deteriorated. In this paper, the effect of the time delay is analyzed in a modal space, and considering that the operation is done by human, the interferences between the modal space is removed within the low frequency area that human operates by utilizing the buffered information. As for the stabilization purpose, phase-lag compensator is utilized. The validity of the proposed method is confirmed through experiments.