Abstract: The control performances of Networked Control Systems（NCSs） are considerably constrained by sharable computing and networked resources.Therefore，how to effectively schedule the periodic and aperiodic stream of information in NCS is a pivotal factor that impacts the system performances.From a real-time control perspective，the timing analysis and the theory of real-time scheduling in NCS are illustrated respectively，with special focus on real-time CPU scheduling strategies，network scheduling methods in NCSs，problems induced in scheduling and their compensatory techniques，schedulability analysis and scheduling optimization，and control and scheduling co-design.Furthermore，farther research directions in this field are also discussed in detail.

摘要： 网络控制系统（NCS）的控制性能受限于共享的计算资源和网络资源，如何对NCS中的周期和非周期的复杂信息流进行有效的调度成为影响系统控制性能的关键因素。从实时控制角度，分析了NCS中的时态特性和NCS的实时调度问题。同时从实时CPU调度策略、NCS网络调度方法、调度诱导问题及其补偿方法、可调度性分析和调度优化、控制与调度协同设计等方面综述了现有的NCS中的调度理论和方法，并讨论了今后进一步的研究方向。