Abstract
Development of a real-time control application usually starts with the design of the control
algorithm using modeling tools such as Simulink. Once the control solution has been designed and
validated through simulations it is implemented using one of the existing real-time programming
technologies. Such a technology is Hierarchical Timing Language (HTL), which can specify timing and
interactions between periodic tasks. Although the control solution is tested through simulations, the
timing of the application that will implement the control solution in most of the cases it is not. This paper
presents a method of modeling in Simulink temporal behavior of a real-time control application which is
specified in HTL, thus allowing testing both functionality and temporal behavior at once.
