This article studies the problem of H controller design for networked control systems (NCSs) with time delay and packet dropout. A linear estimation-based time delay and packet dropout compensation method is proposed. The delay switching-based method is presented to deal with the variation of time delay, and H controller design is presented for NCSs with packet dropout compensation by using linear matrix inequality (LMI)-based method. Then the combined delay switching and parameter uncertainty-based method is presented to model the variation of time delay, and H controller design is also presented. The simulation results illustrate the effectiveness of the newly proposed linear estimation-based time delay and packet dropout compensation.