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Wireless Networked Control Systems (WNCSs) are spatially distributed systems in which sensors, actuators, and controllers connect through a wireless network instead of traditional point-to-point links. WNCSs have a tremendous potential to improve the efficiency of many large-scale distributed systems in industrial automation, building automation, automated highway, air transportation, and smart grid. Transmitting sensor measurements and control commands over wireless links provide many benefits such as the ease of installation and maintenance, low complexity and cost, and large flexibility to accommodate the modification and upgrade of the components in many control applications. Several industrial organizations, such as International Society of Automation (ISA), Highway Addressable Remote Transducer (HART), and Wireless In- dustrial Networking Alliance (WINA), have been actively pushing the application of wireless technologies in the control applications. Building a WNCS is very challenging since control systems often have stringent requirements on timing and reliability, which are difficult to attain by wireless sensor networks due to the adverse properties of the wireless communication and limited battery resources of the nodes. We provide a framework for the joint optimization of controller and communication systems encompassing efficient abstractions of both systems.