We define a new hybrid simulation scheme that combines latency insertion with nodal and state-space methods. The conditions for stability and multirate time stepping of the hybrid method are defined. Further, we show how to define appropriate flow variable injections so that the hybrid method can be extended to applications involving either multiple technical domains or hardware in the simulation loop. The hybrid method permits significant increases of simulation speed while contributing less than 1% to RMS simulation error.
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Benigni et al. (2013) studied this question.
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