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An efficient development environments such as Software-in-the-Loop Simulation (SILS) and Rapid Control Prototyping (RCP) have been widely used to reduce the development time and cost of real-time ECUs. However, conventional SILS does not consider temporal behaviors caused by computation time, task scheduling, network-induced delays, and so on. As a result, the control performance of ECU is likely to be degraded after implementation. To overcome this problem, SILS/RCP which considers the temporal behaviors was suggested in the previous research. In this study, we validated the proposed SILS/RCP environments which are used to design an Electronic Stability Control (ESC) system which is one of the hard real-time control systems. The proposed SILS/RCP environments make it possible to realize ECUs in the early design phase by considering temporal behaviors.

This paper presents the Matlab/Simulink-based Software-in-the-Loop Simulation (SILS) tool which is the co-simulator for temporal and functional simulations of control systems. The temporal behavior of a control system is mainly dependent on the implemented software and hardware such as the real-time operating system, target CPU and communication protocol. In this research, the SILS components with temporal attributes are specified as tasks, task executions, real-time schedulers, and real-time networks. Methods for realizing these components in graphical block representations are investigated with Matlab/Simulink, which is the most commonly used tool for designing and simulating control algorithms in control engineering. These components are modeled in graphical blocks of Matlab/Simulink.