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We propose in this paper a historical perspective of programming issues found in the implementation of control systems, based on the author's observations for more than fifteen years, but especially during the Crisys Esprit project. We show that in contrast with the asynchronous tradition of computer scientists, control engineers were naturally led to a synchronous practice that was later formalised and generalised by computer people. But, we also show that, for the sake of robustness and distribution those practitioners had to incorporate some degree of asynchrony in this synchronous approach and we try to comment the resulting programming style.

Embedded Control: From Asynchrony to Synchrony and Back