At first, you must use A/D card in practice. Also you must run your simulink in real time mode. To apply this, go to " Real Time Windows Target" in Simulink. In this part, you can get some blocks to introduce your real system in Matlab .
I suggest you to read my paper. I think , it's helpful for you, because we did the same work on real time control level that is close to your problem.
Also, I wanna send you my student report in control lab, but we have a problem. This report wrote in Persian. However I think, you can use pictures in this report to solve your problem.
We have done some work on implementing FLC on a two-wheeled mobile robot, you may read the paper with title "Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot"