In the coming fifth-generation (5G) cellular networks, ultra-reliable and low-latency communication (URLLC) is treated as an indispensable service to enable real-time wireless control systems. However, the extremely high quality-of-service (QoS) in URLLC causes significant wireless resource consumption. Moreover, to obtain good control performance may not always require extremely high communication QoS. In this paper, we propose a communication-control co-design scheme to reduce wireless resource consumption, where we obtain a dynamic communication QoS design method to reduce the energy consumption by jointly using extremely high QoS and a relatively low QoS. In this scheme, we first explore the control process served by different communication QoS levels and find that the whole control process can be divided into two phases, where different QoS levels have their advantages in different phases. Then, we obtain a threshold to decide when the extremely high QoS or relatively low QoS should be provided by communications. Simulation results demonstrate that our method can effectively reduce communication energy consumption while maintaining good control performance.