A Framework for Real Time Hardware in the loop Simulation for Control   Design
  This paper presents a simple framework of low cost Kit which can be used in control education and training courses to support hardware in the loop simulation. The kit shows the student or control engineer the effect of delays, noise, and saturation on the control system. The framework is generic and flexible to give the user the ability to test and simulate any controller on any process. The framework uses Matlab environment which gives the user many tools to build is/her system in a fast and accurate way. Some test cases are presented for using the framework on different controllers. 
O. M. Abdalla, Sherif A. Hammad, H. Ahmed Yousef
cs.SY