Abstract: A nonlinear networked control system based on TrueTime was proposed in view of that the nonlinear systems are often involved in uncertainties, complex architecture and difficulty in modeling and simulating under network conditions. Based on the Matlab/Simulink modularized TPCS (two inverted pendulums coupled by a spring) modeling in combination with the TrueTime communication network, the uncertainties due to the object to be modeled and the network-induced time delays were both processed synthetically by a robust controller we designed. The simulation results showed that the proposed system not only reduces the complexity of nonlinear system modeling but also provides the reference for the research on dynamic behavior of a nonlinear system with networked control system architecture.