This paper presents an Internet of Things (IoT)-enabled dependable control system (DepCS) for continuous processes. In a DepCS, an actuator and a transmitter form a regulatory control loop. Each processor inside such actuator and transmitter is designed as a computational platform implementing the feedback control algorithm. The connections between actuators and transmitters via IoT create a reliable backbone for a DepCS. The centralized input–output marshaling system is not required in DepCSs. A state feedback control synthesis method for DepCS applying the self-recovery constraint is presented in the second part of the paper.