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With the rising complexities of SoC (Systems-on-Chip), the design community has been searching for new methodology that can handle the given complexities with increased productivity and decreased times-to-market. Electronic system-level (ESL) design is becoming a promised key solution in SoC design, software and hardware must be developed together, however, both software and hardware designers have different views of the system and they use different design/modeling techniques and tools. In this paper, we show an integrated ESL environment for model-based SoC design which supports from algorithm specification modeling by Simulink and synthesizing both software and hardware of SoC by using the combination of several commercialized ESL tools. We also show the design case of video autofocus control unit for the security camera system by using the ESL environment.