In most of the teleoperation systems, the data traveling through comminucation channel encounters some amount of time delay which can destabilize the system. In wave based teleoperation, although passivity is ensured for any constant time delay, tracking performance is usually distorted due to the bias term introduced by wave transmission. To improve the position tracking error, one way is to augment the forward wave with a corrective term and achieve passivity by tuning the bandwidth of a low pass filter in the forward path. In this paper this method is analyzed and it is shown that this method fails to meet the passivity condition in contact to stiff environments, especially at steady state. In this paper a new method is proposed and an analytical solution for passivity at steady state and semianalytical solution for all other frequencies are represented and this analysis is extended to rigid multiple DoF systems. This method represents a simple structure which improves the position tracking performance and ensures passivity of the system in contact to stiff environments. Furthermore, due to the application of flexible robots in teleoperation systems, a method is considered to control the position of a one DoF flexible link and the proposed wave based method is studied for this flexible link.