In this paper, we propose a system-level design tool for control systems that enables the development of hardwareimplemented interrupt handler. The increasing complexity of control systems has led to a rise in the frequency of interrupts. As a result, the processor load increases, leading to deterioration in the latency of interrupt processing. To solve these problems, we require dedicated hardware that is activated by an interrupt and can directly access devices during its processing. The proposed method enables control systems with above dedicated hardware to be developed using a model that abstracts an interrupt, interrupt processing, and communication between the control processing and devices. Case studies on a motor control system show that the proposed method enables the designer to explore design space of control system, reduces the processor load and improves the latency of the interrupt processing.