“…It supports the development process (V-model) with the application of Model in the Loop (MIL) and Hardware in the Loop (HIL) environments. MIL environments can be used to determine the system specifications based on the given requirements, such as in (Kako et al, 2007) and controller algorithms can also be designed and tested through MILs as it can be seen in (Németh and Gáspár, 2010;Ohata, 2009;Santillan-Galvan et al, 2004), then they can be tested in HILs (Deng et al, 2008;Mihály et al, 2017;Rabinovici et al, 2012).…”