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The buffer is added into networked control systems and random time-delay is changed into constant delay. An approach to design a robust H∞ states observer based on H∞ control theory on networked control systems (NCS) is proposed in this paper. The theorem on existing the observer and how to get the gain matrix is presented and proved in detail. Robust fault detection based on robust H∞ states observer is achieved. Finally, the simulation results on an example demonstrate that the method is effective and robust.