Test-Driven Development of a PID Controller

The current issue of IEEE Software, whose topic is Test-Driven Development (TDD), includes an article from Henrik Gollee and me about the Test-Driven Development of a PID Controller. In it, we apply TDD to the control system design of a PID controller for a simplified vehicle system using slUnit and Simulink. slUnit is a unit testing framework, which combines the features of the xUnit testing frameworks and the Simulink graphical programming language.