网络诱导延时是引起网络化控制系统性能下降甚至不稳定的主要因素之一,如何减小延时或降低其不确定性以克服延时的不利影响,一直是网络化控制系统研究领域的一个关键问题.对此,从控制和通讯网络两方面出发,对目前关于延时问题的研究结果进行了详细的论述和总结;通过系统地分析和对比,指出现有理论成果中存在的问题和不足;最后,指出该领域今后的主要任务和发展方向,并给出了一些有益的建议. Network induced delay is one of the main factors that cause the performance of networked control system to decline or even not stable. How to reduce the delay or reduce its uncertainty to overcome the adverse effect of delay has been one of the research fields of networked control system The key issues.In this regard, starting from the control and communication networks, the current research results on delay are discussed and summarized in detail. Through systematic analysis and comparison, the existing problems and deficiencies in the theoretical achievements are pointed out Finally, it points out the main tasks and development directions in this field in the future and gives some helpful suggestions.