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The Roman Empire reached its largest extent about 160 A.D. It extended from inside present day Iran to the highlands of Scotland. The borders were fluid during this time with wars constantly raging at the edge of the empire so no accurate maps can be drawn giving the exact edges. Some reports are also suspect giving another reason not to trust the edges of maps. Still, no doubt remains where archaeological ruins remain. Rome definitely controlled all of England to all of Iraq in 160 A.D. It controlled The Benelux Countries, France, part of Germany and Switzerland. It controlled Romania and a few miles north of the Black Sea. It controlled the Caucus, Iraq, Egypt, All the countries now bordering the Mediterranean, Spain, and Portugal.
At its peak power the Roman Empire was the same type of society it had always been. It was a classed based society.
By 117 AD, the Roman Empire has reached its peak. That is true, the roman empire peaked at that time. But later, the eastern roman empire, or byzantine empire, controlled most of the old roman empire plus some territory to the east, but I think that the best response to that question is 117 AD
The two peak periods were the renaissance of the 15th and 16th centuries and the neo-classical period of the 18th and 19th century.
The Eastern Roman Empire was located in the Eastern Mediterranean, centered around the city of Constantinople (modern-day Istanbul). At it's peak, it controlled the Balkans, Turkey, the Holy Lands, and Egypt. However, by the end of the empire in 1453, it's territory had shrunk to the City of Constantinople and small surrounding areas.
The Roman Empire was at its greatest height between the Emperors Augustus and Marcus Aurelius [27 BC - 180 AD]. This period is often referred to as the Pax Romana or Pax Augusta [Roman/Augustan Peace]. Under this relatively peaceful period, the empire grew to its greatest extent under the Emperor Trajan guarded by the world's strongest professional army. Goods were traded and exchanged freely across the entire empire from as far away as China. Aqueducts brought fresh, cool water to Rome and other cities everyday. Citizens lived out their lives without any outside threats and mostly free from government intervention. Less than four days of work went to pay for a citizen's taxes. Some of the famous emperors of this period were: Augustus, Caligula, Nero, Trajan, Hadrian and Marcus Aurelius.