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This paper presents a novel design method for Kalman filter based on fuzzy state estimation with online time-delay detector for industrial wireless networked control systems. Firstly, the description of T-S fuzzy model of industrial wireless networked control systems is given. Secondly, the distribution of network induced time-delay is detected by online detector, and the distribution probabilities of induced time-delay within different distribution are fingered out using probability method. Meanwhile, the T-S fuzzy model takes the distribution probabilities as membership functions. Then, the local filters with respect to all distribution are designed by applying method of Kalman filter, and a global agonic filter is developed by employing fuzzy fusing technique to all of local filters. Finally, the simulation on this design is carried out to verify its feasibility.