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This work describes a real-time control laboratory course for undergraduate students. To introduce the concept of real-time control with real-time programming in a feedback-control laboratory course, a commercial software tool for a real-time operating system is adopted. Instead of using convenient graphical programming and automatic code generation methods, students in this course are required to write programs using C language to control and monitor analog dynamic simulators and experimental plants. Through step-by-step procedures, students are able to acquire the knowledge necessary for writing real-time programs to control dynamic systems.