This paper proposes a robust steer-by-wire (SBW) control architecture to provide high assistance gains in the presence of internal and transmission delays. The proposed controller is inspired by Smith's predictor to compensate for the internal delays. The controlled system is compared to the conventional proportional-derivative (PD) telemanipulation controller and is associated with a method for estimating its delay margin. Our methodology is based on frequency-domain techniques for stability analysis of time-delay systems, which provide the allowable bound on the communication delay for the system. Simulations that compare the proposed controller to a conventional PD controller are also included.