Java simulations of embedded control systems

Gonzalo Farias, Anton Cervin, Karl Erik Årzén, Sebastián Dormido, Francisco Esquembre

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


This paper introduces a new Open Source Java library suited for the simulation of embedded control systems. The library is based on the ideas and architecture of TrueTime, a toolbox of Matlab devoted to this topic, and allows Java programmers to simulate the performance of control processes which run in a real time environment. Such simulations can improve considerably the learning and design of multitasking real-time systems. The choice of Java increases considerably the usability of our library, because many educators program already in this language. But also because the library can be easily used by Easy Java Simulations (EJS), a popular modeling and authoring tool that is increasingly used in the field of Control Education. EJS allows instructors, students, and researchers with less programming capabilities to create advanced interactive simulations in Java. The paper describes the ideas, implementation, and sample use of the new library both for pure Java programmers and for EJS users. The JTT library and some examples are online available on

Original languageEnglish
Pages (from-to)8585-8603
Number of pages19
Issue number9
StatePublished - Sep 2010
Externally publishedYes


  • Control education
  • Easy java simulations
  • Embedded control systems
  • Truetime
  • Virtual labs


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