Abstract : This thesis deals with the problem of co-design of Wireless Networked Control systems (WNCS). The integration of the Wireless Network (WN) in the control loop influences the Quality of Control (QoC) of the system in terms of the Quality of Service (QoS) of the WN. We present a co-design approach for WNCS based on distributed Bayesian Network (BN). The proposed BN is constructed from the experimental data of the Khepera III robot. This approach allows to make decisions to ensure a good QoC for the robot and also ensure that the QoS is always sufficient to maintain a good QoC. Keeping a sufficient QoS depends on the scheduling method used and therefore the proposed approach aims also to determine the proper method of scheduling to keep the system's performance.