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This paper presents a robust, dynamic cross-layer wireless communication architecture for wireless networked control systems. Each layer in the proposed protocol architecture contributes to the overall goal of reliable, energy efficient communication. The protocol stack also features a broadcast-based link-layer that determines and recovers from route failures more rapidly than current wireless technology. This broadcast approach also improves the capacity of the network compared to existing commercial wireless technologies. The simulation results presented also show that the use of an inter-process (updatable) queue leads to much better performance in feedback control systems.