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In Cyber Physical Systems (CPS), multiple real-time dynamic systems are connected to their corresponding controllers through a shared communication network in contrast with a dedicated line. For such CPS, the existing scheduling schemes for instance Centralized or Distributed Scheduling schemes are unsuitable since the behavior of real-time dynamic systems is ignored during the network protocol design. Therefore, in this paper, a novel distributed scheduling protocol design via cross-layer approach is proposed to optimize the performance of CPS by maximizing the utility function which is generated by using the information collected from both the application and network layers. Subsequently, a novel adaptive model based optimal event-triggered control scheme is derived for each real-time dynamic system with unknown system dynamics in the application layer. Compared with traditional scheduling algorithms, the proposed distributed scheduling scheme via cross-layer approach can not only allocates the network resources efficiently but also improves the performance of the overall real-time dynamic system.