I. Introduction
Industrial designers are increasingly interested in incremental prototyping of systems, a process in which Hardware-In-the-Loop (HIL) simulation plays a significant role. HIL simulation entails the interaction between real hardware components of a system and a real-time simulator that computes the performance of the rest of the system (ROS) for which real hardware does not yet exist. HIL is not a new concept and has been applied with success to many significant industrial processes [1]–[3]. So far, however, most of the tools and applications focus only on issues related to the design of system controls. In these cases, the plant running concurrently with the real control hardware in an HIL experiment.