s Given positive definite matrix General system parameter when packet transmits successfully Variance of nm(t) Generalized system parameter on state Sample period of the m-th plant at System parameter on state in discrete time index n control function Idle time before the sampling at time Generalized plant state index n um(t) Control input in continuous control Control convergence rate function gravitational acceleration , the mass of the pendulum A, and the mass of the cart . By physical mathematics calculation, Am and Bm can be expressed as follows, respectively: (+1)+1212 (14.2) Apl(T+1) 4(T+1)+1212 (14.3) Y(T+1)+112 14.2 System Model with Latency and Reliability Constraints To obtain the discrete time control model, we assume that Sm,n represents the sample period of the m-th plant at time index n, which consists of wireless transmission time delay Tm.n and an idle period Sm.n. Their relationship can be expressed as (14.4) where n = 1,2,..., N represents the sampling time index in the control process and N is the maximum sampling time index. Then, the discrete time control model with time delay Tm.n can be obtained as (14.5) where heresmador = details about the control model can be referenced in [17]. Assuming 5m,n = (xm.n um.n-1)T is the generalized state, then the control function in (14.5) can be rewritten as (14.6) where nm,n = (nm.n 0)T and (1000) We assume mm=dom.Then, we have Considering the packet loss, we - 0} where "1" means that the packet is successfully transmitted and the control is under closed loop, and "0" means that the packet is lost and the control is under open loop. In addition, we assume that the state estimator is perfect, and then a linear feedback um,n = Omsm,n is used. Then, the closed-loop system in (14.6) can be rewritten as if am,n = 1 (14.7) am,n=0, which can be rewritten in a general way as if am,n = 1 (14.8) where le 9-m,d is the parameter of the control system with transmission time delay included in Im,d when the data packet is successfully transmitted, and = is the paramete