There is a generic tutorial at: http://www.mathworks.com/help/hdlverifier/examples/verify-hdl-implementation-of-pid-controller-using-fpga-in-the-loop.html?prodcode=ES&language=en.
Note that zedboard only supports JTAG connection with the host when using FPGA-in-the-Loop, while this tutorial was designed for both Ethernet and JTAG connection. You just need to following the instructions specific to Xilinx JTAG.
To run this demo, you need Xilinx Vivado.
