I have written an article about how to implement a plugin system using Dynamic Linking Libraries. The article is written from the point-of-view of a Windows programmer but the technique can be applied to a Linux/Unix type environment.
The article can be found here: http://3dgep.com/?p=1759
The main point is, you should create a "common" DLL that is implicitly linked by both the main application (the core application) and by the plugin implementations. The plugins can then be explicitly linked and loaded dynamically at run-time by the core application.
The article also shows how you can safely share static (singleton) instance of a class across multiple DLLs by using the "common" DLL.
The article also shows how you can export a "C" function or variables from a DLL and use the exported functions in the application at run-time.
