With　the　development　of　wireless　sensors　and　energy　harvesting　technologies,　the　research　on　wireless　sensor　and　actuator　networks　with　energy　harvesting　(EH-WSAN)　has　greatly　promoted　future　real-time　applications.　However,　the　integration　of　wireless　resource　management　and　closed-loop　control　design　brings　new　challenges.　In　this　paper,　a　novel　joint　optimization　algorithm　is　proposed　for　EH-WSAN　systems　to　enhance　the　system　control　stability　and　promote　the　quality　of　service　for　the　energy　efficiency.　First,　the　joint　optimization　problem　is　decomposed　into　two　subproblems,　and　then　an　iteration　algorithm　is　proposed　to　derive　the　corresponding　optimal　control　strategy　and　adaptive　sampling　period.　Then,　in　order　to　reduce　the　high　computational　complexity　and　address　the　uncertain　convergence,　an　improved　two-step　optimization　algorithm　is　further　proposed.　In　particular,　the　adaptive　sampling　period　can　be　determined　before　the　control　design,　and　then　can　be　used　to　obtain　the　optimal　control　strategy.　©　2021　IEEE.