Abstract: Aiming at the networked control systems with possibly stochastic network-induced delay and data packet dropout, the stability of networked control systems is studied. Taking account of the uncertainties of the systems and external disturbance input, the saturated non-linear restriction is imposed on control input to develop a generalized model for the systems. By Lyapunov method, the sufficient conditions are given for the robust stability of networked control systems with saturated non-linear restriction. Then, the sufficient conditions are given for γ suboptimum and optimum robust H∞ control, thus obtaining the lainfw of optimal H∞ output feedback control. Simulation results showed that the stability criteria are feasible and the robust H∞ optimal control method with saturated non-linear restriction is valid.