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In this paper, a novel control scheme that integrates control technology with communication technology is introduced for a class of networked control systems (networked half-link systems: NHLS). Concretely, we use the master-slave clock synchronization technology to evaluate the delays online, and then the LQ optimal control based on the obtained delays is adopted to stabilize the controlled plant. Since the error of evaluated delays due to the clock error that is inevitable in the clock synchronization deteriorates the system performances, the discussions about the clock error, and related control analysis and design are also developed. Specifically, we present the relation conditions of controller parameters that guarantee the system stability, and then the from bottom to top method for designing the controller is addressed. Finally, some experiments based on CANbus platform are introduced, which verify the previous analytic results.