Multirate Input Sampling for Real-Time Runge-Kutta Simulation

This paper contains a discussion of Runge-Kutta methods for real-time simulation. It is shown that without multirate input sampling (MIS), the accuracy of real-time Runge-Kutta simulations is greatly reduced. It is also shown that with multiple blocks in the system, Runge-Kutta methods may not even be applicable for real-time applications. After a theoretical development, several examples are given which demonstrate the need for multirate input sampling.