A development system for a cardiac pacemaker control system, the development system comprising: a cardiac pacemaker prototype including an adaptive control system; and a heart simulator in communication with the cardiac pacemaker prototype comprising: a means for receiving pacing stimulations output from the cardiac pacemaker prototype; and a hemodynamic sensor model responsive to the received pacing stimulations, the hemodynamic sensor model being operable to output a signal simulating a hemodynamic sensor in a plurality of heart states, the hemodynamic sensor model being further operative to output the signal simulating the hemodynamic sensor in the plurality of heart states in a plurality of heart conditions.