Control systems utilizing wireless sensor and actuator networks can be severely affected by the properties of the wireless links. Radio fading and interference may cause communication outage of several samples in situations when the radio environment is noisy and low transmission power is desirable. We propose a method to compensate for outages by introducing a predictive outage compensator (POC), which is a filter to be implemented at the receiver sides of networked control systems and that generates artificial samples during the outage. The main contribution of the paper is to show that a POC can be derived based on a Kalman filter formulation and that it is possible to achieve good performance with a low-order implementation based on Hankel norm approximation. Tradeoffs between achievable closed-loop performance, outage length, and POC order are discussed. The results are illustrated on a simulated example of a multiple-tank process.