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Rapid control prototyping (RCP) is one of the most important technologies for the designers and researchers to shorten the design cycle of control algorithms, to improve the reliability of controllers and to simplify the modification of control algorithms during experiments. In this paper, a low cost rapid control prototyping system based on DSP is designed and developed. The RCP system has abundant hardware interface resources and provides an integrated software development environment based on Matlab/Simulink. Through real-time workshop function of MATLAB, users can directly generate executable codes from Simulink models and download them into the DSP board for real-time control, which reduces developers' boring programming burden. Thus, the efficiency of developing real-time control systems is enhanced. A real-time control experiment of intelligent PD controller with neural network and feedforward compensation is done to demonstrate the validity of the system.