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Software in the Loop

Software in the Loop

Hi!

I just wonder what approaches exists to implement Software In the Loop for Control System Design application. I want OpenModelica to model Plant while Code for Controller is implemented as C(C++) routines.
I thought external C Functions would help but seems they have some restrictions such that they should obey reference transparancy property ie return the same values for the same inputs (should not have internal states).

Thanks in advance!

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