Ch is an embeddable $C/C++$ interpreter. It was developed to allow software developers to use one language, anywhere and everywhere, for any programming task. Ch supports C99, a latest C standard ratified in 1999, and contains salient features for two and three dimensional plotting and numerical computing for applications in engineering and science. Developed in Ch, Ch Control System Toolkit provides a control class with member functions for object-based interactive modeling, analysis, and design of linear time-invariant control systems. The software package, available for downloading on the web, has been widely used in industry to solve practical engineering problems and in universities for instructional improvement. The design and implementation of Ch Control System Toolkit are described in this paper. Two application examples of control system design and analysis using Ch Control System Toolkit demonstrate its power and simplicity.

1.
The MathWorks, Inc., 1998, Control System Toolbox User’s Guide, The MathWorks, Inc., Natick, MA.
2.
Integrated Systems, Inc., 1990, MATRIXx Control Design, Integrated Systems, Inc., Santa Clara, CA.
3.
Wolfram Research, Inc., 2003, “Mathematica’s Control System Professional,” http://www.wolfram.com/products/applications/control.
4.
Hanselman, D., and Littlefield, B., 2001, Mastering Matlab 6—A Comprehensive Tutorial and Reference, Prentice Hall, Upper Sadle River, New Jersey.
5.
van den Boom, A., and Van Huffel, S., 1996, “Developments Around the Freeware Standard Control Library Slicot,” Proc. the 1996 IEEE International Symposium on Computer-Aided Control System Design, IEEE, New York, NY, pp. 473–476.
6.
Delebecque, F., 2000, “A Slicot Based Control Library for Scilab,” Proc. the 2000 IEEE International Symposium on Computer-Aided Control System Design, IEEE, Piscataway, NJ, pp. 147–149.
7.
Hodel, A. S., Tenison, R. B., Clem, D. A., and Ingram, J. E., 1996, “The Octave Control Systems Toolbox: A MATLAB-like CACSD Environment,” Proc. the 1996 IEEE International Symposium on Computer-Aided Control System Design, IEEE, New York, NY, pp. 386–391.
8.
Rlab, 2001, http://rlab.sourceforge.net.
9.
Cheng, H. H., 1993, “Scientific Computing in the Ch Programming Language,” Scientific Programming, 2(3), pp. 49–75.
10.
Cheng, H. H., 2003, “Ch Language Environment User’s Guide,” SoftIntegration, Inc., http://www.softintegration.com.
11.
SoftIntegration, Inc., 2003, “Ch Control System Toolkit User’s Guide,” http://www.softintegration.com/products/toolkit/control.
12.
Patel, R. V., Laub, A. J., and van Dooren, P. M., 1994, Numerical Linear Algebra Techniques for Systems and Control, IEEE Press, New York.
13.
Chen, C. T., 1999, Linear System Theory and Design, Oxford University Press, New York.
14.
SoftIntegration, Inc., 2003, “Web-Based Control Design and Analysis System,” http://www.softintegration.com/webservices/control.
15.
Bell, W. E., Lamont, G. B., and Trevino, F. L., 1994, “Using Object-Orientation in Developing an Extendible CACSD Package,” Proc. the 1994 IEEE/IFAC Joint Symposium on Computer-Aided Control System Design, IEEE, New York, NY, pp. 255–260.
16.
Barker, H. A., 1994, “Open Environment and Object-Oriented Methods: The Way Forward in Computer-Aided Control System Design,” Proc. the 1994 IEEE/IFAC Joint Symposium on Computer-Aided Control System Design, IEEE, New York, NY, pp. 3–12.