This manual describes the use of the Matlab/Simulink-based [The Mathworks,

2001] simulator TRUETIME, which facilitates co-simulation of controller task execution

in real-time kernels, network transmissions, and continuous plant dynamics.

The simulator is presented in [Henriksson et al., 2003 Cervin et al.,

2003 Henriksson et al., 2002 Andersson et al., 2005], but be aware that several

differences from these papers exist.

The manual describes the fundamental steps in the creation of a TRUETIME simulation.

This include how to write the code that is executed during simulation,

how to configure the kernel and network blocks, and what compilation that must

be performed to get an executable simulation. The code functions for the tasks

and the initialization commands may be written either as C++ functions or as

Matlab M-files, and both cases are described-This manual describes the use of the Matlab/Simulink-based [The Mathworks,

2001] simulator TRUETIME, which facilitates co-simulation of controller task execution

in real-time kernels, network transmissions, and continuous plant dynamics.

The simulator is presented in [Henriksson et al., 2003　Cervin et al.,

2003　Henriksson et al., 2002　Andersson et al., 2005], but be aware that several

differences from these papers exist.

The manual describes the fundamental steps in the creation of a TRUETIME simulation.

This include how to write the code that is executed during simulation,

how to configure the kernel and network blocks, and what compilation that must

be performed to get an executable simulation. The code functions for the tasks

and the initialization commands may be written either as C++ functions or as

Matlab M-files, and both cases are described