In this paper the use of inexpensive standard hardware and software is proposed in place of high-cost commercial solutions to set up real-time control experiments with a human in the control loop, including graphical and haptic virtual reality (VR). For this purpose a generic simulation environment for the implementation of control experiments using VR with haptic feedback and their evaluation, has been developed. As an example, setups of a car simulator with a human in the control loop and an inverted pendulum as an experiment for student laboratories are presented.