What distro of Linux are you running?
It sounds like you installed software from the manufacturer which is not distributed by the Linux distro. That works, but things usually work more seamlessly if you can install a package from the distro instead.
But assuming you want to run with what you have, the simplest way would be to add commands to (or create) the /etc/rc.local
Note that there may be distos that don't support /etc/rc.local. Also, there may be better ways, such adding or modifying files in /etc/sysconfig/, depending on which distro you are running.