A method implemented in a hierarchical networked control system, the hierarchical networked control system comprising a first controller for matching devices, at least one second controller for determining a control loop, wherein the at least one second controller belongs to a respective at least one wireless sensing and actuation network, and a device manager, wherein the said first controller is connected to the device manager and the at least one second controller, wherein said method comprises the following steps: a. obtaining, by the first controller, device-related information corresponding to a plurality of devices from the said device manager, wherein the said plurality of devices comprise at least one first device and at least one second device, wherein the said device manager is connected to the plurality of devices based on a predetermined protocol and obtains device-related information of each device; b. selecting, by the first controller, for each first device, a second device matching the said each first device from among the said at least one second device based on device-related information of the each device; c. determining, by the first controller, corresponding device matching information based on the second devices matching the each first device, and sending, by the first controller, the said device matching information to the at least one second controller; wherein the device matching information comprises one or more pairs of matching first device and second device; - receiving, by the at least one second controller, device matching information from the said first controller to form a control loop based on the said device matching information; wherein the said method further comprises the following steps: m. when a predetermined trigger condition is satisfied, updating, by the first controller, the said device matching information; n. sending, by the first controller, update information to the said at least one second controller based on the updated device matching relationship, the update information being used for indicating each second controller to update the device matching information of their own. a. obtaining, by the first controller, device-related information corresponding to a plurality of devices from the said device manager, wherein the said plurality of devices comprise at least one first device and at least one second device, wherein the said device manager is connected to the plurality of devices based on a predetermined protocol and obtains device-related information of each device; b. selecting, by the first controller, for each first device, a second device matching the said each first device from among the said at least one second device based on device-related information of the each device; c. determining, by the first controller, corresponding device matching information based on the second devices matching the each first device, and sending, by the first controller, the said device matching information to the at least one second controller; wherein the device matching information comprises one or more pairs of matching first device and second device; - receiving, by the at least one second controller, device matching information from the said first controller to form a control loop based on the said device matching information; - receiving, by the at least one second controller, device matching information from the said first controller to form a control loop based on the said device matching information; m. when a predetermined trigger condition is satisfied, updating, by the first controller, the said device matching information; n. sending, by the first controller, update information to the said at least one second controller based on the updated device matching relationship, the update information being used for indicating each second controller to update the device matching information of their own.