The controller based on internal model principle is designed for the signal transport time delay existing in the electromotor remote control system based on network, which compensates for the drop of system performance because of network-induced delay.

• 摘要针对基于网络的远程控制系统中存在的信号传输时间延迟问题，设计了基于内模原理的控制器，对因网络时延导致的系统性能下降进行补偿。