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Loop tasks and sporadic tasks in networked control systems include processor subtasks and message subtask that must be executed in certain order and finished before their deadline, and they run on different resource. Therefore, two scheduling sequences (including all subtasks) are designed in a sampling period. Then heuristic static algorithm for assigning processor subtasks to processors is adopted. The subtasks assigned to the same resource are executed according to their orders in scheduling sequence and the subtask in loop scheduling sequence run earlier than the subtask in sporadic scheduling sequence. Finally, genetic algorithm based on integer coding is applied to optimized scheduling sequence. Simulation result show the scheduling algorithm can guarantee that tasks are schedulable and the performance of control system is improved.