Efficient Computation of State Derivatives for Multi-Rate Integration of Object-Oriented Models

Multi-rate integration algorithms offer huge advantages in terms of simulation time savings when large, loosely coupled systems or systems with mixed fast and slow dynamics are considered. Such algorithms require the computation of different sub-sets of the state derivative vector at each time step. This paper presents a method to efficiently compute these sub-sets, starting from a continuous-time, object-oriented dynamic model. The method is demonstrated on a simple test case.