For the delay link, a direct predictive compensation method using a tracking differentiator based on an improved discrete system optimal control synthesis function is proposed to extract the tracking and differential signals of the delay signal, adaptively adjust the parameters of the tracking differentiator according to the distance between the tracking signal and the original signal, and compensate the delay link according to the Taylor expansion compensation. For the sample-and-hold process, a modified “current” statistical model is introduced to adjust the acceleration extremum of the maneuvering target according to the current acceleration, and a Kalman filter is designed to adaptively adjust the prediction covariance based on the modified “current” statistical model, and the covariance matrix of the observation noise is adjusted in real time according to the characteristics of the sample-and-hold process, so as to compensate the sample-and-hold process. The simulation results show that the proposed miss distance compensation method can effectively reduce the impact of delay and sample-and-hold, and has comparable performance with other advanced miss distance compensation methods.