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OpenRTDynamics Real-Time Framework

OpenRTDynamics Toolbox for Scilab
(7400 downloads for this version - 8610 downloads for all versions)
Christian Klauer
Owner Organization
Control Systems Group, Technische Universität Berlin
Christian Klauer
Creation Date
November 27, 2012
Source created on
Scilab 5.4.x
Binaries available on
Scilab 5.4.x:
Windows 64-bit Windows 32-bit Linux 64-bit Linux 32-bit macOS
Scilab 5.5.x:
Windows 64-bit Windows 32-bit Linux 64-bit Linux 32-bit macOS
Install command
--> atomsInstall("OpenRTDynamics")
== Please Note: Due to problems with some variables defined by this toolbox,
this initial upload to ATOMS does not work as exepected. However, a manual
installation of this toolbox is working. A solution is ongoing. ==

OpenRTDynamics (ORTD) is a novel approach to the implementation of block /
signal based schematics, as commonly used in control engineering and signal
processing. The implementations are real-time capable (like the ones produced by
Real-Time Workshop® or Scicos Code Generation). This framework is suitable for
time discrete signal processing algorithms, using the same principles like in
Scicos or Simulink. However, schematics are described by combining special
Scilab functions provided by the framework, which enables advantageous

Additionally to standard approaches, ORTD features the ability to implement
state machines represented by multiple, switching subsystems (each subsystem
corresponds to one state). Since, subsystems can also run in the context of
separated threads (with or without synchronisation to another one), e.g. high-
and low frequency parts can be divided or computationally intensive tasks can
run in the background. Because of a remote control interface and the ability to
include Scilab-Code as computational functions (S-function like), ORTD is also
ideally suited for laboratory automation. The ability to replace sub-schematics
with new implementations and parameters during runtime removes the effort of
restarting the main real-time program when new algorithms are (automatically)

This is the Scilab-Interface for OpenRTDynamics ( You can
define signal-based block schematics and get the encoded implementations
(similar to binaries), which can be transfered to target machines. However, for
running those implementations, you need the whole framework (especially the
ORTD-interpreter) on the target machine. Also having the interpreter installed
on the development host is advantageous, because then you can perform off-line
Files (4)
[254.66 kB]
Source code archive
source code for scilab 5.4 (same as for scilab 5.3.3)
[254.66 kB]
Source code archive

[330.85 kB]
OS-independent binary for Scilab 5.4.x
Binary version
Automatically generated by the ATOMS compilation chain

[332.20 kB]
OS-independent binary for Scilab 5.5.x
Binary version (all platforms)
Automatically generated by the ATOMS compilation chain

News (0)
Comments (4)     Leave a comment 
Comment from Jeff Waters -- September 5, 2014, 06:03:08 PM    
I am having problems installing OpenRTDynamics.  It was on my Lenovo notebook running an
earlier version of ubuntu... I am now running ubuntu 14.04 and when I updated to 14.04 I
encountered problems with ORTD.  I have now gone thru the manual and Graphic installations
and ORTD does not show up in Scilab 5.4.1 that I allowed ORTD to install.  I also have
Scilab 5.5...

It seems that perhaps ORTD is checking scilab files and finding them and thus not
installing them ??? 

Im not familiar enough scilabs' internals to check them and verify their correctness.  




Answer from Christian Klauer -- September 7, 2014, 11:42:25 AM    
Dear Jeff,

you could have a look into the folder scilab-5.4.1/share/scilab/contrib of your Scilab 
installation. There must be a link called "ld_toolbox" to the ORTD-Scilab Toolbox
that is 
normally created by the installation procedure or by the "make
install_toolbox"-command in 
order to show up in the Scilab-Toolboxes menu. For me it looks like:

chr@ch:~/tmp/scilab-5.4.1/share/scilab/contrib$ ls -l
insgesamt 24
lrwxrwxrwx  1 chr chr   56 Sep  6 11:32 ld_toolbox -> 
-rw-r--r--  1 chr chr  118 M?r 29  2013 loader.sce
drwxr-xr-x  9 chr chr 4096 M?r 29  2013 toolbox_skeleton
drwxr-xr-x 11 chr chr 4096 M?r 29  2013 xcos_toolbox_skeleton

If it's not there, you can manually create it e.g. like this:

cd ~/tmp/scilab-5.4.1/share/scilab/contrib
ln -s ~/tmp/OpenRTDynamics_source/scilab/ld_toolbox ld_toolbox

On an 12.04-updated-to-14.04 ubuntu I tried to install ORTD using the current *.sh - file 
and it worked. Maybe that may be different when using a fresh install of 14.04 but I did 
not check by now... I'm looking forward to hear your report, so I can address this 
potential error.
Comment from Jeff Waters -- April 28, 2016, 08:01:16 PM    
This comment has been deleted.
Comment from Jeff Waters -- April 29, 2016, 03:41:44 PM    
This comment has been deleted.
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