Hardware-in-the-Loop (HIL) simulation is a real-time simulation that allows for testing of embedded codes without resorting to a real hardware system but only a hardware under test, also called Device Under Test (DUT). This provides the ability to test for abnormal conditions and errors that could damage the hardware if the code performs differently than expected. Control systems are fundamental in different fields, and verifying an embedded code is complex due to the risk of hardware damage at an advanced stage compared to that of prototyping when making changes becomes complex. HIL simulation offers an ideal solution for testing embedded codes before they are implemented on real hardware systems, as it allows for testing of extreme scenarios that could damage or even destroy the hardware under test.