tiple access/collision avoidance (CSMA/CA). In [17], the authors provided a survey on the wireless network design for the control systems, where latency and reliability were discussed in different communication protocols. The above research indicates that communication time delay and packet loss result in control per- formance loss since they enlarge the sample period of the control systems [17]. However, no close form expression is obtained to show exactly how communication latency and reli- ability affect the control performance. The aforementioned work shows that design communication and control subsystems separately cannot guarantee optimal overall system performance. On the one hand, most of the research on URLLC intends to maintain extremely high QoS only in wireless com- munications. On the other hand, the effect of communication latency and reliability on control performance cannot be obtained exactly. In fact, co-design of URLLC and real-time wireless control is critical for both communication and control. First, communication resource is extremely limited, especially to meet the ultrahigh technical requirements for URLLC. A design tailored for a wireless control system can significantly reduce communication resource consumption. For instance, at some stages when the control performance is not constrained at an extremely high level, the allocated wireless resource can be reduced accordingly. Second, the control performance is determined by both the control sample period and the communication QoS, where the sample period should be adjusted accordingly to optimize the control performance when the communication QoS is different [17]. We notice that there is some research on communication-control co-design [24-30]. For instance, in [25], the authors obtained the optimal control sampling period and communication time delay and reliability by simulation analysis based on the exist- ing communication protocols. In [26], we further found that different communication QoSs have different effects on control perform