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This paper describes an environment for the development of production Engine Management Systems (EMS). This includes a formal framework and modeling methodology. The environment is based on using Simulink/Stateflow for developing a control system executable specification and a plant model. This allows for simulations of the system to be performed at the engineer's desk, which is identical performance with production software. We provide the details for incorporating production legacy code into the Simulink/Stateflow control system. The system includes a multi-rate, and event driven operating system. This system is developed to facilitate new algorithm development and automated software testing. Based on Simulink/Stateflow this specification will be suitable for use with commercial automatic code generation tools.