This paper describes the experience of customizing RT-Linux for its use in embedded real-time control. It describes the system configuration and the issues involved in minimizing Linux for a small embedded system. It introduces the concept of file system profiles to deal with this minimization. Another interesting feature is how to achieve real-time features through the use of RT-Linux Finally, the paper describes the design of a CAN network driver for providing real-time transmission on a RT-Linux system.