Another hardware/software approach presented in the
literature combines a microcontroller with a computer
to create a real-time feedback control system [16], [17].
The computer in this approach does not need to be running
a real-time operating system. The microcontroller
enforces the real-time execution of the control law, reads
all of the sensor signals, and sends all of the actuator
signals while the computer provides a higher-level programming
language and additional computational and
memory resources