model representations [21]. A stochastic timing model with random delays can be invoked to describe the execution of the system. Guided by this information, the user can proceed using a simulation tool such as TrueTime to perform event-based co-simulation of a multitasking real-time kernel containing controller tasks and the continuous dynamics of controlled plants. The simulations capture the true, timely behavior of real-time controller tasks and communication networks, and dynamic control and scheduling strategies can be evaluated from a control performance perspective. The controllers can be implemented as MATLAB M-functions, C++ functions, or ordinary discrete-time Simulink blocks. The following subsec- tions shed light of the simulation tools.