A self-triggered sampling scheme (STS) is proposed for a networked control system with consideration of data losses and communication delays. By making use of this scheme, the next sampling instant does not depend on online estimation of an event-triggered condition and the successive measurement of the state, and can be dynamically determined with respect to the transmitted packet, the desired control performance, and the allowable number of consecutive data losses and communication delays. Consequently, the sampling interval can be adaptively adjusted. Therefore, the communication burden can be greatly reduced and the energy efficiency can be much improved while preserving the desired H∞ performance. An inverted pendulum and a one-area power system controlled over a wireless sensor network are given to illustrate the effectiveness of the proposed STS.