With random access MAC there is a trade-off between the network quality of service(QoS) and control performance as a function of network traffic, that is, sampling time of the control system. If the available network bandwidth is too low, this can be compensated by load balancing, changing the network topology, or adding a high-speed back bone network, quantization or increase in sampling interval of the controllers. In the case of packet drop,the physical layer needs to be improved or acknowledgment and retransmissions can be utilized. On the control side a state-estimator or a network delay jitter aware controller can be used. If packet drops are due to collisions or if communication delay jitter occurs due to retransmission, a deterministic MAC protocol is the solution, or the previously mentioned control side techniques can also be used to compensate for the packet drop, see [37]–[39].