Abstract: In this paper, we explore the analysis and design of wireless networked control system (WNCS) utilizing adaptive coded modulation (ACM) schemes, which can improve the energy efficiency and increase data rate over a fading channel. To capture the characteristics of varying rate, interference, and routing in wireless transmission channel, we introduce the concept of equivalent delay (ED). Based on the time-varying network condition, the analytic lower and upper bounds of EDs are given. Whereafter, WNCS is modelled as a discrete-time system with time-varying input delay. Sufficient stabilization condition of the closed-loop WNCS is derived by making use of novel techniques of time-delay system. Finally, the numerical result shows the validity of our proposed control strategies.