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This paper describes a modeling formalism that specifically addresses description and performance analysis of simulators for legacy real-time embedded systems. The proposed framework includes the original software application as a component whose simulation is supervised by an execution controller. Simulation of the legacy system is achieved by controlling the execution of the application code on a host platform, together with a legacy platform model, in closed-loop with the plant model. The control objective is to simulate the behavior of the realtime embedded system, including the effects of platform artifacts such as execution times and scheduling (In particular, preemption), as well as the interaction with the continuous-time behavior of the plant.
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