A modular and layered cosimulator for networked control systems

In this paper we present a simulation framework that is intended to be used for a wide class of network control systems. It is designed in order to allow interaction with the Matlab/Simulink environment. The low-level structure is written using the C++ language so that hardware/network in the loop simulation can be readily done by substituting an arbitrary set of software components with corresponding hardware in an easy way. Sharp modularity of the code structure permits to adapt the simulation to different needs changing only a few modules. We shall show the results of its specialization to a recently proposed controlling approach, demonstrating the flexibility and the accuracy of the simulator.