# Real-Time Simulator for Dynamic Systems on FPGA  
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this area has made rapid progress in terms of the speed and ease of development associated with new hardware platforms. Real-time simulation techniques have included the use of hardware such as digital signal processors, general-purpose processors, and reconfigurable computational solutions that employ FPGAs. The choice of FPGAs as the main elements in studies is easily justified by their better performance and flexibility, compared to other hardware [17].  
The use of FPGA platforms for real-time simulation has gained prominence across various application areas, mainly due to their parallel processing capabilities and flexibility. Recent studies, such as that by [18], propose methodologies for assessing the credibility of simulations in complex electronic control systems using FPGA-based Hardware-in-the-Loop (HIL), highlighting the importance of accuracy in replicating actual operating conditions. One study presents another significant advancement [19], in which the authors developed a real-time simulator for power converters with optimized switching model parameters using FPGA. Ref. [20] explore the implementation of real-time simulators with floating-point arithmetic, demonstrating that low-cost solutions can achieve performance comparable to high-cost commercial simulators. Additionally, ref. [21]'s research on stability simulation in power systems and the application of digital control techniques in single-phase PFC converters by [22] highlight the potential of FPGAs in applications requiring high precision and efficiency. These studies underscore the versatility and power of FPGAs as a solution for complex real-time simulations, making them an attractive choice for various industrial and academic applications.  
Recent advancements in FPGA-based systems have expanded the potential of real-time simulation and Hardware-in-the-Loop (HIL) applications. Ref. [23] demonstrated a novel real-time digital simulation platform for differential drive mobile robots, showcasing the integration of electrical and mechanical models within an FPGA environment, significantly improving robotic simulations' fidelity and speed. Additionally, ref. [24] addressed the complexities of transforming SIMULINK models into FPGA-in-the-Loop systems, proposing a systematic approach that enhances the development of digital twins for industrial applications. Moreover, the work by [25] presents a universal equivalent model for real-time CPU-FPGA co-simulation, specifically targeting hybrid cascaded multi-level converters, which marks a significant step toward more efficient power electronics simulations. These contributions underscore the evolving capabilities of FPGAs in handling increasingly complex simulation tasks, making them indispensable tools in modern engineering and research.  
This work presents four main contributions to the field of real-time simulation using FPGAs:  
* Development of a real-time simulation platform based on FPGA: The proposed platform offers a low-cost and high-efficiency solution capable of reproducing the performance of commercial simulators across various applications, from electrical to mechanical systems.
* Integration of floating-point arithmetic for enhanced precision: Including floating-point arithmetic in the FPGA enables high-precision simulations, overcoming common challenges in modeling complex dynamic systems.
* Methodology for credibility assessment: This work proposes a novel approach to assess the credibility of simulations, providing a quantitative tool for validating real-time models.
* Flexibility and broad applicability: The platform's modular and flexible architecture allows its application across a variety of dynamic systems, whether electrical, mechanical, or hybrid.