Add to ORKGThe paper deals with several proprietary embedded hard real-time systems for ultra-low floor tramcar type TMK2200. The described systems were built by means of platform-based modular hardware and software components. Both hardware and software platforms and components are described. Particular attention is given to vehicle control unit, control electronics for traction units, auxiliary supply units and visualization unit. Furthermore, the concept of tramcar communication networks is presented. The communication between control units is based on CANbus and CANopen communication protocol. Obsolescence problems during development and production phases are also discussed.U radu su prikazana vlastita rješenja elektroničkih ugradbenih upravljački...