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With the development of soccer robots, application of embedded real-time operating system (RTOS) in the control system of robots is attracting more and more considerable attention for meeting the increased requirements of complexity and real time. A control system of intelligent robocup was developed, which was based on the embedded RTOS of MicroC/OS-II and the digital signal processing (DSP) chip of TMS320F2407. It adopted the control algorithm of PPLID available in the literature. This control system is superior in computation, control and real-time performance.