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How can I use a constant time step for certain subsystems inside a variable time step simulation

Asked by Jeff Hough on 10 Jan 2019
I am simulating a controlled robot arm with several degrees of freedom. The arm appears to behave as a stiff differential equation, so I want to use ODE 15s as the solver for the simulation. However, since the control law being tested will eventually be implemented on a microcomputer with a fixed timestep, I would like to still be able to run the control block at a fixed frequency (say, at 100Hz).
Is this possible to do? Thanks in advance!


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