ImProve is a Haskell eDSL for embedded control systems -- we use it for automotive and off-highway powertrain control. I've started writing a tutorial for ImProve. So far it has a basic tour of the language and a handful of examples. Comments and suggestions are welcome. In other recent news, ImProve can now generate models in Simulink and Modelica. -Tom [1] http://github.com/tomahawkins/improve/wiki/ImProve