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The problems of stochastic network-induced delay and packet dropout are considered, by using asynchronous dynamical system constrained by configuration event rate, the output feedback robust H∞ control for networked control systems (NCSs) is studied. Firstly, a state observer is designed for estimating the states and compensating for data dropout. Secondly, the closed system is modeled as asynchronous dynamical system constrained by configuration event rate, and the data packet dropout process is considered as a stochastic process which is composed by the discrete event above. Based on the conceptions of probability, by using Lyapunov principle, sufficient and necessary conditions for robust H∞ stability of the closed loop system is obtained, and the output feedback controller design method is presented. Finally, simulated application in DC motor system shows the validity of the proposed method and compared with no packets drop condition, the effectiveness of the proposed method is verified.