This paper establishes an approach to co-design of an output feedback controller and a channel-access managing policy for networked control systems (NCSs) where channel limitations and network-induced delays are present at both sides of the system. In particular, communication sequences and controller co-design conditions for linear NCSs with bounded disturbance are derived in the framework of hybrid control and given in terms of difference linear matrix inequality (DLMI) and difference matrix equation (DME). The results are extended to NCSs with Gaussian noises and random delays that are independent identically distributed (i.i.d.) and Markovian, with corresponding results given in the sense of stochastic stability. Numerical examples have shown the usefulness of the proposed methods.