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The paper presents a state prediction controller design method for networked control system (NCS) to compensate time-delay in the control loop based on the time-stamp information carried by the message in control network. At first, we study a time-stamp based algorithm of measuring the time-delay in NCS and apply the state prediction based time-delay compensation control to the system. Then, we propose a state prediction control approach of establishing an approximate model to object states in the controller and actuator time-driven. And, the necessary and sufficient conditions for stabilizing the system are deduced. At last, a numerical example and its state curve of prediction controller prove the validity of the given design method.