Polo, O. R.Cruz García, Jesús Manuel de laGirón Sierra, José MaríaEsteban San Román, Segundo2023-06-202023-06-202002[1] Harel, David. H. Lanchover, A. Naamad, A. Pnueli, M. Politi, R. Sherman, A. Shtull-Trauring, and M. Trakhtenbrot, 1990. "STATEMATE: A Working Environment for the Development of Complex Reactive System," IEEE Transactions on Software Engineering 16(1990) pp 403-414. [2] Selic, Brian, Gulleckson, Garth., and Ward, Paul T. 1994. Real-Time Object Oriented Modelling. NewYork", John Wiley and Sons. [3] Powel Douglass, B. 1998. Real Time UML. Developing Efficient Objects for Embedded Systems. Addison Wesley. [4] Harel, David. July 1987. Statecharts: A Visual Formalism for Complex Systems. Science of Computer Programming 8 :231-274. [5] R.Polo, O., Esteban, S., Grau, A., De la Cruz. J.M. 2001. " Control Code Generator used for Control Experiments in Ship Scale Model" Accepted for presentation in the IFAC Conference CAMS2001 July, 2001. [6] RTKernel 4.0 and RTKernel 4.5 Real-Time Multitasking kernel for C/C++. User's Manual.0-08-043700-1https://hdl.handle.net/20.500.14352/60864IFAC Conference on New Technologies for Computer Control (NTCC 2001)(nov. 19-22, 2001. Hong Kong, República Popular China).The development of real-time control systems is usually part of a design cycle, involving implementation, experimental control system testing, and re-design. For a faster and better complete development, a software engineering approach, based on a modelling language, is recommended. A successful alternative is ROOM: a modelling language with a graphical syntax. In this paper EdROOM is presented: an environment developed to graphically edit ROOM models and to automatically generate, from the models, C++ real-time control code for direct experimental application. The code generated is modular and easy to debug. The paper describes the design of the environment, with the key aspects of the modelling methodology. EdROOM has been used by our research team for several applications, with satisfactory results. One of these applications concerns the control of actuators of a fast ship for vertical motion smoothing: this is described as an example of EdROOM use.engbook parthttp://www.dacya.ucm.es/giron/PDF/polo1.PDFhttp://www.dacya.ucm.es/open access004Real-Time Software EngineeringReal-Time Software DevelopmentReal-Time Code GenerationInformática (Informática)1203.17 Informática