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Real-Time Pacer for Simulink

4.8 | 21 ratings Rate this file 197 Downloads (last 30 days) File Size: 18.7 KB File ID: #29107 Version:
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Real-Time Pacer for Simulink



21 Oct 2010 (Updated )

Simulink block for forcing a simulation to run in real (wall clock) time

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The RealTime Pacer block slows down ("paces") simulation time so that it synchronizes with real elapsed time. The degree of slowdown is controllable via a Speedup parameter.
1) The block is implemented using an M S-function, so it works on any supported Simulink platform. It does not support code generation.

2) The block uses the MATLAB PAUSE function to slow down the simulation. The PAUSE command gives up the processor during the pause, so system performance does not degrade.

3) The M-S function illustrates how to use nested functions to simplify the code.

The matching between simulation time and elapsed real time is approximate, with expected differences on the order of 10 to 30 milliseconds. This limitation is due to difficulties of precise timing with a multitasking operating system.


The following FX entries also implement "real time" functionality for Simulink. They are based on C S-functions and therefore support code generation.

* Simulink Real Time Execution (Real-Time Slower) (Filex# 21908)
* Real-Time Blockset 7.1 for Simulink (Filex# 3175)
* RTsync Blockset (Filex# 24975)


This file inspired Simulink Xplane10 Communication Via Udp, Sphero Connectivity Package, and Mars Rover Robot 2014 Competition.

Required Products Simulink
MATLAB release MATLAB 7.7 (R2008b)
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Comments and Ratings (23)
07 Feb 2017 Roshan Sharma

Great work! Thanks a lot...
This file exchange is a superb substitution to the real time kernel. It works for me just great. I use it to read/write data from NI-USB 6003 from National Instruments along with the MPC toolbox.
I used to use the "real-time sync" block from Simulink Desktop real-time toolbox provided by Mathworks, with real time kernel. But I (and many others) have a huge problem with it. The CPU usage was always 100% with the fan running at the top speed. The problem continued even when the real time kernel was uninstalled and MATLAB was uninstalled. Restarting computer did not help. Task manger becomes unmanageable. The only work-around was to create a restore point and restore the PC to earlier working state.

Thanks to this simple solution. Now I do not have to worry about restoring my PC.

10 Jan 2017 RP

RP (view profile)

31 Dec 2016 voiceafx

Thank you! I spent forever screwing around trying to get something that plays back close to real-time, for visualization purposes. What a pain in the posterior for something so simple.

Your block did the job, no problems whatsoever. Cheers!

07 Dec 2016 Karthiga Mahalingam

Great work!

But I have to run a stepper motor using matlab and arduino and I get the following error message: The corresponding 'msfun_realtime_elapsed.tlc' file for the MATLAB S-function 'msfun_realtime_elapsed' in block 'realtime_pacer_example/Elapsed Real Time1' must be located in the current working directory, the MATLAB S-function directory 'C:\Users\ShreeKarthiga\Desktop', or the directory 'C:\Users\ShreeKarthiga\Desktop\tlc_c'.
Is there any way out of this.

21 Nov 2016 Jon Eskils

14 Oct 2016 Nathan

Nathan (view profile)

Best real-time block implementation (tried 5 others that failed to work).
The only one that I've seen with a good readme, and great functionality for custom timing.


21 Sep 2016 Gabriel H

28 Aug 2016 Mateus Antonio

12 Aug 2016 Mikel Iturbe

Despite a previous comment claiming that it does not work on Linux, I was able to run the example and use it in my simulations with Matlab 2016a on Ubuntu 16.04, out of the box.

08 Jun 2016 Dinart Braga

Gautam, thank you very much.
Your code solved my problem in 1 minute.

Also, your install instructions could not be simpler. Nice job!

11 Apr 2016 Pan Song

works fine with me:)

03 Apr 2016 sagar pawar

please guide me....for using this blocks for speed control of dc motor with arduino with matlab...

14 Mar 2016 Alon Tuchner

Works very well.

30 Jan 2016 Kenneth De Leener

Thanks much appreciated

23 Jul 2015 Michael Rice

I have MAC OS X Yosemite. This solutions did exactly what I wanted. Thank you for making this robust enough to work on multiple platforms over multiple releases.

04 Jun 2015 Krisando lalal

Hey, thanks!
I have problem with setting the path.
There are any blocks in simulink library after adding the path.
I simply put the whole folder to /Users/Myusername/Documents/MATLAB/realtimeP
realtimeP - folder with m, s files and models.

and i run addpath('/User/Myusername/Documents/MATLAB/realtimeP')

I have MAC OS X, I would be gratefull for answer :)

Comment only
15 Dec 2014 Chethan Pandarinath

Thanks, this worked well for me.

26 Nov 2014 Diego

Diego (view profile)

Hi it don't runs in linux

24 Apr 2014 Pramit Biswas

Pramit Biswas (view profile)

Elapsed real time is what I'm searching for. Very nice implementation. Superb.

Thank you very much for sharing.

12 Jul 2013 Pieter Mosterman

Great functionality. Does exactly what I was looking for, including scaled real time. Perfect. Thanks so much, Gautam!

10 Jun 2013 Jeff Orchard

Nice. It does exactly what I want, and it was simple to use. Thanks!

23 Mar 2012 Walter

Walter (view profile)

This pacer for Labview works very well for slowing a SIMULINK developed control system to match the timing of a real time device. We are using it to provide control logic to a LabView DAQ system which then controls a hydraulic pump and motor system. To overcome the problem of Microsoft Operating System interrupts, we have added memory to the control system to account for the time losses.

20 Jul 2011 Gustavo

Gustavo (view profile)

Very nice work!

Comment only
01 Sep 2016

Updated license

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