Multi-rate real-time simulation: Techniques, models, frameworks, and challenges

This review examines multi-rate real-time simulation (MR-RTS) techniques, models, and frameworks. Although established for years, these approaches continue to evolve to address increasingly complex systems. The paper highlights the advantages of multi-rate simulations over traditional fixed-rate methods, emphasizing their ability to adapt simulation rates to the needs of individual subsystems. It also outlines key evaluation criteria, guidance for selecting suitable frameworks, and major challenges in implementing MR-RTS, along with recommendations to overcome them.