Having used code generation for controller development, Odyne started to build a plant model using Simscape™. The system model was architected to abstract core controls away from the hardware, and controls could be used directly with the plant model. The goal was to be as close to the production environment in order to maximize development speed. The plant model was developed at the vehicle level in order to evaluate system performance and could also be used for subsystem or component evaluation. The model was configured to use actual customer field data and characterized using data from a chassis dyno. With the system model, we can balance and tie together all aspects of embedded controls development, including calibration, testing, and simulation.