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Wireless Networked Control System (WNCS) is given profound attention because of dynamic, flexibility and inexpensiveness. However, it is difficult to use a single simulator to simulate a WNCS which is a hybrid system. A co-simulation framework based on OPNET, Matlab and C++ is presented to capture both the system dynamics and communication events and depict the real WNCS accurately. MATLAB is good for simulating the mathematical modeling and feedback control, while OPNET is apt at simulating the WLAN communication behavior. The co-simulation framework can help WNCS designer understand and improve the performance of the WNCS.
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