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A congestion control scheme based on combination of Smith principle and fuzzy control is proposed. The fuzzy controller is based on differences of queues length and drop probability of packets. The Smith controller provides effective offset of TCP networks to reduce influence of time delay to system by using system feedback control. By Lyapunov method analysis, the stability of the congestion control scheme is proved. Simulation results indicate the congestion control scheme based on Smith principle and fuzzy control improves stability and robustness of system comparing with congestion control schemes (Such as PI controller and Adaptive RED with Fastlink).