nications [4] and [5]. There has been some research on wireless control systems, but most of it analyzes URLLC (e.g. Refs. [6-15]) and wireless networked control (e.g. Refs. [16-21]) separately. From the wireless communication perspective, the authors in [22] investigated the achievable channel coding rate for finite blocklength, which establishes one of the most important foundations of URLLC design in the physical layer. The authors in [23] further discussed the close-form expression of the achievable capacity in URLLC, which provides a guideline for URLLC design in different channel cases, e.g. additive white Gaussian noise (AWGN) channel and Rayleigh fading channel. Based on the above research, more works focus on Radio Access Network Slicing and Virtualization for 5G Vertical Industries, First Edition. Edited by Lei Zhang, Arman Farhang, Gang Feng, and Oluwakayode Onireti. © 2021 John Wiley & Sons Ltd. Published 2021 by John Wiley & Sons Ltd. 14 Optimizing Resource Allocation in URLLC for Real-Time Wireless Control Systems URLLC resource allocation design to maintain the extremely high quality-of-service (QoS) in URLLC [6-13]. For example, the authors in [6] studied the resource allocation for uplink communications and found that a huge amount of frequency and transmission power are needed to satisfy the extremely high QoS in URLLC. However, most of the research targets a latency or reliability constrained communication system without bringing specific control performance (e.g. control cost, stability, or state update rate) into consideration. From wireless control perspective, communication latency and reliability are set as ran- dom variables caused by communication protocols [16-21]. For example, the authors in [16] studied the effect of communication packet loss on the control performance caused by transmission control protocol (TCP) or user datagram protocol (UDP). The authors in [18] further discussed the effect of both time delay and packet loss on the control perfor- mance caused by carrier sense mul