In a method of recovering timing information over a packet network at a local receiver, timing information is received at intervals timing from a remote source and compared with a locally generated clock signal to generate an input signal y(k) subject to noise representative of the phase difference between the source clock signal and the local receiver clock signal. The input signal is applied to a state feedback controller, preferably including a Kalman filter, to generate a control signal with reduced noise. The control signal is used to control an oscillator in a way so as to reduce the phase difference and generate a slave clock.