TrueTime [22] is a Matlab/Simulink based simulator which offers co-simulation of controller, network transmission, and plant dynamics. Introduced in 2002, TRUETIME is still evolv- ing and currently a beta version 2 is available, although version 1.5 is considered as stable software. Main feature of TRUETIME is the use of real-time kernels in which controller tasks are executed. This environment can be used to study standard and distributed control, scheduling, overrun handling, synchronization, control over wireless networks, and wireless ad-hoc routing using AODV.