Rapid Controller Prototyping (RCP) requires two components:

a Computer Aided Control System Design (CACSD)

software and a dedicated hardware with a hard real-time

operating system. The software should allow to perform all

phases of control system design (specification, modelling and

identification, control design, simulation, implementation and

verification) in the same environment. A graphcal application

allows the user to create models for dynamic systems simply

by connecting blocks from available libraries. Among others,

some blocks implement linear systems given as transfer

functions or state-space realizations both in continuous and

discrete time. An integrated code generator allows to directly

create code from the graphical scheme. The COMEDI project

([1]) provides the drivers to interface the system with the real

plants.