The treatment of inputs in real - time digital simulation

Real-time simulation often requires a computer to interact with external hardware in a dynamic loop. Data must be sampled from input signals and incorporated into the numerical integration algorithm to evaluate the derivatives of the state variables. Also, data from the integration must be available for external use with a minimum of delay. This paper will show that, because of these requirements, certain numerical integration routines are best suited for real-time simulation. A new fourth-order RungeKutta routine designed for real-time use is presented along with its derivation. l