Introduction to MIL, SIL, PIL, and HIL Testing in MATLAB/Simulink When developing embedded software, validating functionality and performance at different stages is crucial to avoid costly errors.

🎯 Key Features Complete TEP simulation model (Python & MATLAB implementation) Linear MPC with constraint handling (comparison with NMPC & RMPC) Extended Kalman Filter for state estimation Digital ...

% 纯 MATLAB 复现 STM32 main_hil.c 的控制器 + 运动学，生成 x_sim / y_sim。 % 轨迹、增益、步长、初始状态都与 STM32 完全一致 —— 这样和 stm32_log.csv 对比才有效。 % 运行后会得到 x_sim, y_sim（供 compare_stm32_vs_sim.m 叠加）。

Hardware-in-the-loop (HIL) testing connects real controller hardware to a simulated environment, enabling engineers to verify systems safely and in real time before building physical prototypes. With ...