The functionality and performance of modern machines rely heavily on integrated computer control systems. It is even so that in many machines the computer system is no longer just added on, but rather integrated to such an extent that the functionality of the machine is directly dependent on the real-time control system, such that the machine is useless if the computer system does not work properly. An example of this is the modern diesel engine for trucks and buses, which can not at all meet the environmental requirements without its control system, which in turn has such requirements and complexity that the only possibility is a computer based control system. The physical embedding and integration of the control system into the machine is another unique characteristic for a real-time mechatronic control system. Again, the diesel engine serves as a good example, typically we find the embedded controller bolted directly onto the engine block. This certainly puts specific requirements on the design and packaging of the control system.