Simulation of Dynamic Systems with MATLAB and Simulink, 2nd Edition

evaluations per frame. The initial operation is an I=O read of the input u

n

¼u(t

n

). The next process is

the two derivative function evaluations including the calculations to advance the state from x

A

(n)to

x

A

(n þ1). Note that the time to evaluate the derivative function may be random due to the necessity

of searching through tables of empirical data or as a result of branching when the code is executed.

Lower and upper limits to compute the derivative functions and perform the calculations necessary

for updating the state are t

1

and t

2

s. The final operation is an I=O write to the hardw are interface as

shown in Figure 8.66. The residual time before