A communication system includes a transmitter and a receiver that establish mutual connections of a plurality of their communication layers for communication. The transmitter has a request generating part for generating a connection request including data and commands required to connect the plurality of adjacent communication layers, and a request transmitting part for transmitting the connection request to the receiver. The receiver has a request receiving part for receiving the connection request from the transmitter, and a connection establishing part for extracting the data and commands from the connection request and establishing, based on the extracted data and commands, the connections of the communication layers. In this way, the time required for establishing the connections can be shortened. Thus, even if a data exchange is interrupted, a reconnection can be made in a short time to resume the data exchange.
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