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A new model for networked control systems (NCSs) with structured uncertainties and multiple state time-delays is presented, In view of multi-input and multi-output (MIMO) NCSs with many independent sensors and actuators, a continuous time model of NCSs with distributed time-delays and uncertainties are proposed. A method of delay-estimation online is also given. Then a scheme based on LQG controller is designed to achieve desired Real-time performance. The result illustrate that the effectiveness of the proposed control design and the satisfactory performance of the system.