Use Matlab Simulink RTW Embedded Coder (Score 1)

I would recommend the Mathworks Simulink tool chain which includes the new Embedded Coder. The resultant C code is readable and testable (as compared to RTW alone). The requirement to solve the abstraction from the control to the I/O (actuators, sensors) is an embedded platform that bridges Simulink algorithms to real, embedded hardware. Many vendors provide prototyping or instrumentation h/w such as the Mathworks XPC. You might also check out rugged, embedded modules that are Simulink "programmable" using the MotoHawk tool from MotoTron. http://www.mototron.com/products/MotoHawk