Integrated control design environments reduce the time of development, simulation and real-time testing of embedded control systems. This tutorial paper describes five contemporary software and hardware tools which may be used to create integrated control design environments to facilitate rapid implemeritation of control algorithms and hardware-in-the-loop simulation. Examples presented include, decoupling stabilizing control of an unstable multivariable plant, digital PID control of an analog plant and PWM control of dc motor speed.