A hybrid bandwidth scheduling scheme is proposed to improve the quality of service and the bandwidth utilization for the CAN-based networked control systems.It combines rate monotonic and improved round-robin scheme for both the real- time and non-real-time data.Moreover,considering the con- straints of control performance and network schedulability,a heuristic branch and bound & genetic algorithm(GA)algorithm is presented for the control data to minimize their bandwidth occupancy and the jitter caused by improper scheduling.The residual bandwidth is allocated to non-real-time data by the pro- posed scale round-robin scheme such that their network loads are balanced.