The Transport Control Protocol (TCP) is widely deployed over the Internet for reliably transporting data [27], and it accounts for a significant portion of Internet traffic. While TCP has been extremely effective in transporting bulk data, it has not been as effective in remote control operations, particularly over long-haul connections. The control of fast mechanical devices using TCP over wide-area Internet connections could suffer from two problems: (a) lack of responsiveness of the device, and (b) presence of high frequency components that produce uncontrolled motions. The conventional controllers designed for electrical connections with very small delays are particularly vulnerable if simply transfered over to the Internet. The difficulty is that TCP is known to exhibit complicated dynamics over various time scales. While such behavior does not directly affect large bulk transfers, it can have serious negative effects on the controllability and stability of control loops implemented over widearea networks.