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When a CPU connects with more than two nodes in networked control system (NCS), two classes of NCS's scheduling, task scheduling and network scheduling, are investigated. A new approach for dynamical priority assignment based on IAE (integral-absolute-error) performance index is presented. A novel scheduling protocol based on RM-IAE is designed to integrate the performance of scheduling and control in networked control system. Simulation results reveal the effectiveness of the proposed protocol. Sampling jitter and input-output latency are presented to analyze the influence in scheduling and control in NCS.