This paper deals with a new GIMC structure considering a communication delay by using the Smith Predictor and its application to a mechatronic system. First, we stabilize the unstable mechatronic system by a PD controller and define the stabilized system as a new augmented plant. We design the proposed GIMC structure using the Smith Predictor based on ℋ∞ controllers for the new stabilized augmented plant. Finally, the proposed structure is evaluated experimentally and the effectiveness of the proposed approach is proven. In addition, we apply the proposed structure to a virtual networked control mechatronic system.