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The design of a controller requires a mathematic modeling followed by the adjusting of some model parameters. However to overcome the controller to a single piece of hardware, involves the codification of this mathematical based model into an appropriate firmware description suited to work correctly in a specific platform. Recently a model driven development approach, firstly defined by system engineers, has been frequently used as way to reduce the time of development of embedded systems, producing rapid and reliable product in a short time development cycle. This model driven approach is basically used for test and is known as XIn-The-Loop. These tests provide four levels of testing configurations: MIL (Model-In-TheLoop), SIL (Software-In-The-Loop), PIL (Processor-In-The-Loop) and HIL (Hardware-In-TheLoop). Each of the configuration levels provides some advances and reduces the gap in the development process that initiate with the mathematical model and ends at the firmware running in a stand-alone microprocessor platform [1].

Processor-in-the-Loop Simulations Applied to the Design and Evaluation of a Satellite Attitude Control