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The complexity of real-world industrial control systems is growing rapidly. This raises significant challenges for the use of embedded systems in control applications, since embedded platforms are generally resource limited. In this work we develop a Scilab/Scicos based embedded controller on which various control software can be easily modeled, simulated, implemented, and evaluated to meet the ever-expanding requirements of complex industrial control applications. It is built on the Cirrus Logic EP9315 ARM9 systems-on-chip board. With the developed platform, it is possible to design and implement complex embedded control systems that employ advanced control strategies in a rapid and cost-efficient fashion. Thanks to the free and open source nature of the software packages used, the cost of the embedded controller is minimized.