Polo, O. R.Esteban San Román, SegundoMarón, A.Grau, L.Cruz García, Jesús Manuel de la2023-06-202023-06-202002CEHIPAR (2000): www.cehipar.es Harel, David. (July 1987), Statecharts: A Visual Formalism for Complex Systems. Science of Computer Programming 8 :231-274. RTKernel 4.0 and RTKernel 4.5 Real-Time Multitasking kernel for C/C++. User's Manual. Selic, Bran, Gulleckson, Garth, and Ward, Paul T. (1994), Real-Time Object Oriented Modelling. NewYork, John Wiley and Sons.0-08-043236-0https://hdl.handle.net/20.500.14352/60867© 2001 IFAC. IFAC Conference on Control Applications in Marine Systems (Jul 18-20, 2001. Glasgow, Escocia). The authors want to thank the support of the CICYT Spanish Committee (project TAP97- 0607-C03-01), and the collaboration of the BAZAN and CEHIPAR staff.After a study of control design to get a good candidate for testing, it comes a step of experimental confirmation. The general objective of the research is to smooth the vertical motions of a fast ferry. A T-foil and transom flaps are added to a scaled-down replica of the fast ferry. These appendages can move under control. So there is a control system installed on the replica, that moves the appendages using motors, and measures the main variables of the ship and actuators motions. This control system is based on an industrial PC with electronic interfaces for motors and sensors. The control algorithm obtained by the design, must be implemented as real-time control software, to be executed on the industrial PC. For a fast and easy translation from design to real-time application, a new software tool has been developed. This tool generates directly C++ code, easy to compile, from a graphical description of the control. With this tool, the experiments have been achieved in short time. During experiments, several non expected circumstances appear, but this was not a problem: the tool allows for an easy improvement of the original design. The paper describes the tool and its use during experiments.engbook parthttp://ctb.dia.uned.es/conbav/Articulos/password/polo2001.pdfhttp://ctb.dia.uned.es/open access004Ship ControlRapid PrototypingProgramming EnvironmentAutomatic ControlInformática (Informática)1203.17 Informática