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This paper presents a design methodology for the design of microelectronic systems which include hardware and software for open-loop and closed-loop control. An integrated approach to specification and design, analysis and simulation of the overall system has been developed. As embedded systems often require real-time capabilities, the environment presented gives special consideration to these constraints. An example for concrete applications will be given, which shows, how the design of real-time embedded systems is supported by the design methodology and environment.