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To aim at the problem of networked control system which is the hotspot of research and application nowadays, a method of self-adaptive prior scheduling of multi-tasks is presented. It is that the prior of each task is determined by its evaluated factors, and then the tasks are dynamically scheduled by their priors in the single-controller. The scheduling rules and the structure of scheduling algorithm are given in this paper. A practical example that the DC motors of X, Y and Z axis of a simple three-axis gear machine tool are controlled by single-controller and through a network is given in this paper, where the the controlling error and the sampling period and the importance of each task is adopted as its assessing factors to calculate its prior dynamically. The results of simulation on the platform of TRUE TIME shows that the method presented in this paper is correct and practical.