For the synchronous simulation of control design tool and RecurDyn, following four steps are required as shown in Figure 1.
Figure 1 Four-step process
Communication sequence
1. Make the shared memory and RecurDyn is called by Simulink, wait the Plant output (2) of RecurDyn.
2. Send plant outputs and wait control outputs (4) of the Simulink.
3. Receive sensor inputs (=plant output) from the shared memory.
4. Send control outputs from Simulink.
5. Receive plant inputs (=control output) from shared memory.
Figure 2 Communication Sequence