Abstract: The paper analyzes Internet communication delay components and features.Considering the bilateral network control system，a time delay estimation combined model is presented.The validity of the combined model is evaluated.The combined model is adopted to estimate the network time delay，and estimation results are used to design controller with network time delay compensate.Based on the real network time delay value，a simulation experiment is designed，the results demonstrate the dynamic performance of networked control system is improved obviously and the time delay estimation combined model is effective.

Key words: networked control system, time delay, time delay estimation combined model, time delay compensation

摘要： 在对网络传输时延的组成和特性进行分析的基础上，针对双边网络控制系统，提出了一种时延估计组合模型，并对该组合模型的有效性进行了评估。利用该模型进行网络时延估计，估计结果用来设计网络时延补偿控制器，以实际网络时延为实验数据进行了仿真实验，实验结果表明网络控制系统的动态性能有了明显改善，同时进一步证实了时延估计组合模型的有效性。

关键词: 网络控制系统, 网络时延, 时延估计组合模型, 时延补偿