In networked control systems (NCSs), the presence of communication networks in control loops causes many imperfections such\r\nas random delays, packet losses, multipacket transmission, and packet disordering. In fact, random delays are usually the most\r\nimportant problems and challenges in NCSs because, to some extent, other problems are often caused by random delays. In order\r\nto compensate for random delays which may lead to performance degradation and instability of NCSs, it is necessary to establish\r\nthe mathematical model of random delays before compensation. In this paper, four major delay models are surveyed including\r\nconstant delay model, mutually independent stochastic delay model, Markov chain model, and hidden Markov model. In each\r\ndelay model, some promising compensation methods of delays are also addressed.
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