1 Improving the Accuracy of Intermediate-pass Outputs in Multi-pass Real- time Integration Methods

In using multi-pass integration methods for real-time simulation of dynamic systems, it may be desirable to employ intermediate-pass state-variable calculations as real-time outputs. For example, the real-time version of 2nd-order Runge-Kutta (RTRK-2) utilizes two evaluations of each state variable per overall integration step. The first evaluation uses Euler integratio