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This paper is concerned with the design problem of the robust control for a networked control system (NCS) with time-varying communication delays. It has been known that time delays may not only degrade the system performance, but also destabilize the controlled plant. To alleviate the influence resulting from time delays while maintaining performance, a mixed fuzzy-PID/neural network compensating scheme is applied to pneumatic systems with uncertain communication delay. The experimental results verify effectiveness and superiority of our proposed approach.