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The paper summarizes experiences of development and use of interactive software for computer aided design of control systems. Different principles for interaction with users having wide ranges of experiences and knowledge are discussed. A comprehensive set of packages for modeling, identification, analysis, simulation, and design are described. Problems associated with structuring, portability, maintainability and extensibility are discussed. Experiences from development and use of the packages in teaching and industrial environments are discussed. Some views on future development of CAD for control systems are also given.