Problem Statement: Nowadays Real-Time (RT) embedded control applications require not just higher performance but more flexibility as well without increasing cost and resources. Approach: In this study we presented a promising co-design and implementation of control solution. We developed flexible solution using software control algorithms coupled with an embedded RT kernel on powerful embedded processor cores, combined with reconfigurable logic and dedicated resources on the Field Programmable Gate Array (FPGA). Various architectures were compared and contrasted in terms of speed and FPGA area. Results: This fully integrated RT control system in a System-on-Chip (SoC) was applied to electric motors drive in order to enhance both flexibility and performance. Experimental results showed the feasibility and the efficiency of the approach; they demonstrate the capacity of implementing, in high-level coding, high speed and more complex control algorithms with RT constraints. Conclusions/Recommendations: Programmable SoC enabled flexible control system design. This solution can be readily applied to any control algorithm with minor hardware or software adapting to specific application requirements

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