If you already know or have access to the full specification of your joystick's protocol you can skip steps 1 & 2.
1. Find a way to connect your joystick or controller to one a serial port correctly, get a PCI card if you have to.
2. Run a listener program connected to the (newly installed?) PCI card's serial port and get the joy stick's output to use for your emulator.
3. Write a serial device driver or use one of the several emulators available (free & $). Search for
faking-an-rs232-serial-port
on stack overflow.
Here is a recommended free one:
com0com - With Signed Driver (old version)
and a non-free one
COM PORT DATA EMULATOR
4. Write a joystick data pump program to connect to one end of your serial line and the other connected to your actual test program.
5. Test...