With　the　progress　of　wireless　sensor　technology,　recent　developments　in　energy-harvesting　wireless　sensor　and　actuator　networks　(WSANs)　bring　the　potential　possibilities　for　various　control　related　applications　requiring　high　real-time　performance.　However,　in　the　collaborative　optimization　design　considering　the　energy　efficiency　and　control　stability,　the　effects　of　the　packet　dropout　and　time　delay　are　not　frequently　concerned　in　existing　works.　In　this　paper,　a　novel　three-step　joint　algorithm　is　proposed　through　energy　management　analysis　and　control　strategy　design.　First,　the　optimal　transmission　power　and　the　energy　allocation　of　sensor　and　controller　are　acquired　based　on　the　conditions　of　harvesting,　consumption　and　remaining　energies.　After　that,　a　backward　iteration　is　used　to　obtain　the　control　gain　for　each　sampling　interval.　Finally,　a　linear　function,　determined　by　the　previous　control　strategies　and　system　states,　is　formulated　to　derived　the　optimal　control　strategy.　©　2022　IEEE.