Real-time simulation often requires a computer to interact with external hardware in a dynamic loop. Data must be sampled from input signals and incor porated 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, cer tain numerical integration routines are best suited for real-time simulation. A new fourth-order Runge- Kutta routine designed for real-time use is presented along with its derivation.
Fehlberg, E.Low Order Classical Runge-Kutta Formulas with Step-Size Control and Their Application to Some Heat Transfer Problems NASA Technical Report R-315 1969
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Howe, R.M.Fogarty, L.E.Computer Considerations for Real Time Simulation of a Generalized Rotor Model NASA Technical Report CR-2877 1977
