In this paper protocol characteristics and timing analysis of
the control networks must be investigated in order to explain
how they influence the networked control systems. A model of
NCSs, in which the setup with single-packet transmission and
random time delay less than one sample period is taken into
account is introduced. Then the dynamic equation of full-state
observer of control systems without network is derived. The
reason and composition of time delay in NCSs are explained
and the compensation scheme of time delay in sensorcontroller
channel is proposed.