A Simscape™ model of a backhoe that performs well in desktop simulation is reused for HIL testing. The model includes a hydraulic network with multiple actuators, valves, and a pump. The hydraulic network is connected to a three-dimensional mechanical model of a backhoe arm. The configuration steps include enabling the Simscape local solver, verifying speed and accuracy of the fixed-step simulation, and converting to C code. When the model is running on the real-time target, values of Simscape run-time parameters are modified directly on the target without regenerating C code.