Hybrid simulation discrete continuous

Hello all,

I would like to know how can I perform "hybrid" simulation where my plant is modeled in continuous domain and controller (subsystem) is in discrete domain. Then I would like to move forward to use SIL/PIL simulation where controller (discrete) runs at target MCU and my plant (variable step/continuous) is still modeled in simulink. Any idea, example or tutorial how to do it?

Thank you Peter