Technological advances have enabled distributed control systems to be implemented via networks. This allows feedback control loops to be closed over a communication channel. This paper develops a control system with high speed and real time communication links. The two-degree-of-freedom control is utilized in this servo control system and delta-sigma modulation is employed to compress data and transmit the signal over the transmission channels between the controller and the servomotor. Simulations and experimental results show that it is possible to compensate the noise in signal transmission channels. In addition, FPGA is used in the control system and the communication system to realize high-speed control system with 0.6 mus sampling period and latency. The data is also compressed and transmitted with FPGA in the experiments