Wireless networked control systems (WNCSs) are control systems whose components are connected through wireless networks. In WNCSs, a controlled object (CO) could become unstable due to bursty packet losses in addition to random packet losses and round-trip delays on wireless networks. In this paper, to reduce these network-induced effects, we propose a new design for multihop TDMA-based WNCSs with two-disjoint-path switching, where two disjoint paths are established between a controller and a CO, and they are switched if bursty packet losses are detected. In this system, we face the following two difficulties: (i) link scheduling in TDMA should be done in such a way that two paths can be switched without rescheduling, taking into account of the constraint of control systems. (ii) the conventional cross-layer design method of control systems is not directly applicable because round-trip delays may vary according to the path being used. Therefore, to overcome the difficulties raised by the two-path approach, we reformulate link scheduling in multihop TDMA and cross-layer design for control systems. Simulation results confirm that the proposed WNCS achieves better performance in terms of the 2-norm of CO's states.