The less conservative co-design problem of dual security control and communication for CPS was studied for a class of nonlinear CPS with an actuator fault and DoS attack based on the DETCS. First, combining with the edge computing thought, data filtering and partial computing tasks were assigned to the network edge devices. The DoS attack with limited energy is converted into a special time delay; thus, the discrete event trigger condition, the actuator fault estimation and regulation, and the robustness for DoS attack can be considered uniformly. A dual security control framework of non-uniformly sampled data system was proposed under the DETCS for CPS, and the T-S fuzzy model of closed-loop nonlinear CPS with the co-existence of fault and attack was established. Second, with the help of time-delay system theory, a robust observer for state and fault estimation and the co-design method of dual security control and communication with the actuator fault and DoS attack were obtained by constructing an appropriate Lyapunov-Krasovskii function and using affine Bessel-Legendre inequality. Finally, the validity and feasibility of the theoretical results were verified by a classical quadruple-tank system. © 2013 IEEE.