In this thesis, design and implementation procedure of a microcontroller based card for implementing nonlinear control algorithms is reported. The board includes a 16-bit microcontroller from Intel MCS-96 family named 8xC196KC which features 8 channel 10-bit analogue to digital converter and 3 PWM output with 8-bit resolution. 8xC196KC computes 32-bit multiplies and divisions quickly however, it does not support floating-point operations which are very important in control law implementation therefore, a floating-point Library Function is used for 32-bit computations. The card has 2 expansion slots that improve the system capabilities; an example is a 4-channel analogue input and 2-channel analogue output with 12-bit resolution that is designed and tested to control the Ball and Beam system. A new version of hardware-software package named Grisly, which designs, simulates and implements state-feedback and output-feedback linear/nonlinear controllers, is developed to send control law parameters to the card under the Windows 98/2000 operating system.