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A dynamic scheduling strategy based on network running situation is proposed to allocate network bandwidth by adjusting the sample periods of control systems sharing CAN resource in the networked control systems. Then the NCS is a vary-sample period system which is modeled as a class of discrete switched systems when network-induced delay and data-packet dropout exist. Based on the model, the approach of robust controller design is studied. Finally, a group of simulations validate the effectiveness of the control and scheduling co-design method.