WSN as well as Wireless Multimedia Sensor Network (WMSN) has demands for QoS provision and differentiated service. The various types of data, such as video, voice, and network management, need to be periodically or best-effect transmitted. Since MAC layer forces the final physical medium accessing, it is the best choice to implement the QoS support for efficiency. This paper addresses the problem of QoS support in WSN from a renewed view of control theory and proposes FD-MAC architecture. By means of CSMA/CA, FD-MAC dynamically adjusts contention widow size according to the MAC frames’ priorities and their actual QoS metrics. The architecture can be modeled as a linear time-invariant system by system identification, and Least-Beat controller is designed to drive the system output to the desired value, which means the ratio of actual QoS metrics can be controlled to a prefixed value. The higher priorities enjoy a comparatively lower node-to-node delay while the lower priorities can still operate without being oversacrificed.