Real-time integration formulas with off-step inputs and their stability

Nonlinear ordinary differential equations and systems (34A34) Numerical methods for initial value problems involving ordinary differential equations (65L05) Stability and convergence of numerical methods for ordinary differential equations (65L20)

Review text

Real-time simulations require the numerical integrations of equations of the form \(dy/dt=f(y,u)\), where the vector y contains the variables being numerically simulated (output) and the vector u contains inputs to the numerical integrator from a physical system. 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. The authors study the stability of several formulae of this type.

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