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IP is internet protocol it can be private or public address. for example, 122.10.10.111 is public but 192.168.10.111 is private and you can use it outside the network.
DNS is domain name server which is the human way of using the internet. because the web is only known IP addresses, and people are not good with numbers so DNS is the solution. for example typing www.bayt.com to the browser it will ask the DNS or your host folder in you pc for the IP address.
DHCP is dynamic host configuration protocol which means the server where it gives each device an IP address with an expiry date, each router has DHCP service to assign IP addresses privately to connected devices, also, ISP has a similar server for each consumer connected to the internet.