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When IP network-based control systems of small DC motors are controlled, varying time delays and packet losses through the network cause the performance degradation. A simple scheme for overcoming it is that, using jitter buffer, varying delays is treated as constant delays in the systems. That is, control designs are done as the systems with dead times. Here the issues are how much buffering time jitter buffer needs. In this paper, a scheme applying gain scheduling and jitter buffer is proposed. For confirming the effectiveness, speed control experiments of a small DC motor through IP networks are conducted, and it is shown that the scheme is effective.