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Compensation for the communication frame loss and delay of CAN bus system is a research hotspot in recent years. For CAN bus system, it is very important to improve the compensation effect under the limited bandwidth constraints. In this paper, the mechanism of communication frame loss and delay is analyzed, its characteristics are summarized, and how it affects the CAN bus control system is studied; Based on the characteristics of high load sensitivity of CAN bus and randomness of communication frame loss and delay, a distributed compensation scheme is proposed, and some common problems existing in the design of compensator are discussed in detail; In addition, the compensation method of SISO system is studied; Finally, the effect of the compensation method is simulated under different frame loss and delay conditions, and simulation results show that the compensation method proposed in this paper is feasible and effective.