The scheduling and control of a class of wireless networked control system is investigated,whose control loop is closed via a shared IEEE 802.15.4 wireless network.By using a gain scheduler within the packet-based control framework and fitting the delay-dependent gains into a time-delay sys-tem model,a less conservative self-triggered approach is proposed to determine the sampling update,which consequently enables the design of two network scheduling algorithms to reduce the commu-nication usage.Numerical and TrueTime based examples illustrate the effectiveness of the proposed approach in the sense that it reduces greatly the communication usage while maintaining satisfactory control performance.