1. A method for pipeline parallelizing a control program for multi-core execution, comprising: performing a data dependency analysis on the control program to identify a plurality of tasks, each task comprising a set of operations executable over a plurality of scan cycles independent from the other tasks; identifying the largest task requiring the most execution time of the identified tasks; identifying cut-points in the largest task where data dependency delays decouple the largest task; inserting delayed data dependencies into the cut-points of the largest task to create N pipeline sub-tasks, wherein N is a number of cores available to a processor on which the control program will be executed; and scheduling the pipeline sub-tasks to the available processor cores in a manner that enables multiple scan cycles of the largest task to be executed in parallel, wherein each pipeline sub-task is scheduled to a first core for a first scan cycle, and a parallel execution of each pipeline sub-task is scheduled to one or more second cores for a second scan cycle which is interleaved with the first scan cycle to generate an intermediate output for each pipeline sub-task on the one or more second cores simultaneous with a subsequent pipeline sub-task on the first core.