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The complex real-time control system is a software dense and algorithm dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in the real-time domain. This paper first analyses the advantages and problems of using UML for real-time control systems design. Then, it proposes an extension of UML-RT to support time-continuous subsystems modeling. So we can unify modeling of complex real-time control systems on a UML-RT platform, from requirement analysis, model design, simulation, through to code generation.