VirtualArena是用于控制设计和系统仿真的面向对象的Matlab集成开发环境，其实现目标如下:
1)避免重新实现大多数项目共有的功能，例如:
-离散化策略(例如欧拉向前，龙格库塔，…)

-系统线性化的雅可比计算方法，例如基于符号或样本的方法

-实施标准车辆动力学，如独轮车或类似无人机的车辆，并实施不同的姿态表示，如旋转矩阵或四元数

-状态观测器自动生成，例如扩展卡尔曼滤波器(EKF)

-基于网络的控制器的实施结构

- …

2)建立一套通用接口，允许独立设计和集成不同的组件(例如，车辆模型、控制器、传感器、观察器、...)并实施可重用/透明/易于调试的编程风格。(Virtualarena is an object-oriented matlab integrated development environment for control design and system simulation. Its implementation objectives are as follows:
1) Avoid re implementing features common to most projects, such as:
-Discretization strategies (e.g. Euler forward, longkutta,...) )

-Jacobian calculation methods for system linearization, such as symbol based or sample based methods

-Implement standard vehicle dynamics, such as wheelbarrow or similar UAV vehicles, and implement different attitude representations, such as rotation matrix or quaternion

-Automatic generation of state observers, such as extended Kalman filter (EKF)

-Implementation structure of network-based controller

-...

2) Establish a common set of interfaces that allow independent design and integration of different components (e.g., vehicle models, controllers, sensors, viewers,...) and implement a reusable / transparent / easy to debug programming style.)