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The values of u are sampled at a fixed clock rate and similarly y is transferred to the physical system at a fixed clock rate. Even if the system under simulation has no inbuilt delay, the numerical simulation introduces delays. First, some time is required to compute numerically the output to a given input. Second, changes in u are not felt by the integrator until the next u- sampling time. Delays are smaller if the sampling times for u and y are different, a situation that requires a numerical integration formula which uses off-step u information. 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