This paper discusses challenges in enabling teleoperation over the Inter net for the specific case of real systems which exhibit fast dynamics.A distributed client-server architecture is proposed to provide the necessary level of interactiv ity for supervision and tuning,without compromising the essential control tasks. Enabling features include real-time simulation and augmented-reality visualization to enhance the user perception of the distant ongoing operations.The proposed approach is illustrated through the remote control of an inverted pendulum.