Due to remote sensor, actuator and processor locations, many systems need to implement closed loop control through a communication network. Thus, they may thus face the problem of induced random delays caused by the network. These delays may deteriorate the system performance and may even cause instability. The problems get more complicated when the possibility of queue formation at the transmitting side is considered for closed loop data transmission. In this paper, we propose a state prediction/control scheme to control this type of system. The scheme utilizes knowledge of the amount of data in the queue to enhance prediction. Two automotive examples will be used to demonstrate the performance of the proposed scheme.