Inexpensive computation and ubiquitous embedded sensing, actuation, and communication provide tremendous opportunities for societal impact, but also great challenges in the design of networked control systems, because the traditional unity feedback loop that operates in continuous time or at a fixed sampling rate is not adequate when sensor data arrives from multiple sources, asynchronously, delayed, possibly corrupted, and — especially important for this project — the different entities that participate in the control system do not share a common clock.