JTAG or USB

https://www.mathworks.com/solutions/fpga-design/simulink-with-intel-fpgas.html

Go thru this link

Hello

This can help, however it is for Xilinx ESE

https://www.mathworks.com/help/xpc/ug/workflow.html

Generally speaking Simulink and the System Generator (ISE or Vivado) support HIL in specific boards. You need to check with Mathworks and possibly Xilinx to see if your board is supported.