First, the Coder add-on is now available on Linux as well as on Windows. Linux users can now export their Simulink models as FMUs and import the model into any FMI-compliant tool.
Second, if you are you using FMU models for control design, linearization of Model Exchange FMUs is now at your service. Directional derivatives functions are used for an exact result, if they are not available automatic numeric linearization is performed using algorithms well suited for large systems.
The FMI ToolboxTM for MATLAB®/Simulink® and its Coder Add-on provide extensive support for FMI on the MATLAB®/Simulink® platform. FMI ToolboxTM supports all major workflows in control system development and system integration for virtual prototyping, from design and sizing to optimization and MIL/SIL/HIL validation & verification testing.