This book introduces a packet-based co-design control framework for networked control systems. The book begins by providing a comprehensive survey of research on networked control systems, giving the reader a general overview of the field. The author subsequently verifies the proposed control framework both theoretically and experimentally, respectively – the former using multiple control methodologies, and the latter using a unique online test rig for networked control systems. The framework thoroughly investigates communication constraints including network-induced delays, data packet dropout, data packet disorders, network access constraints, etc., as well as multiple controller design and system analysis tools including model predictive control, linear matrix inequalities, optimal control, etc. This complete co-design framework aims to benefit researchers, graduate students and engineers in the fields of control theory and engineering.