This paper proposes a control method that compensates the time delay in a system by predicting the future states of a plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method considers the uncertainty in a model in terms of modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in a remote plant is explicitly considered and is compensated by placing a feedback controller on the remote side. This paper describes the proposed control method based on model-based predictive control that considers modeling error. Furthermore, this paper describes a method of designing a feedback controller based on the H∞ norm. The stability of the proposed system is analyzed, and the performance of the method is evaluated and compared with a conventional methods using numerical simulation results.