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This work presents a supervisory control strategy for Networked Control Systems (NCSs). This shows the identification and control of the plant using fuzzy theory. The fuzzy model incorporates the delay dynamics within the fuzzy rules based upon a real-time scheduling strategy. The controller is composed by a nominal control (PID) and a supervisory control which is proposed from the delay dynamics following the related predefined time delays. A scheduling algorithm is used based upon codesign strategy following mutual correlation among control and network algorithms. A system of magnetic levitation is presented as a case study.