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Real-time dynamic substructuring is a new component testing method for simulating the dynamics of complex engineering systems. The physical component is tested within a computer-generated 'virtual' environment using real-time control techniques. Delays in communication which occur between the component and the virtual environment can potentially destabilize the simulation. In this paper, the mechanism for this instability is examined using a beam-oscillator system as a case study. We will showdoi:10.1098/rspa.2007.1836 fatcat:nkirveb4rvg6jlxdqhvjah4e3y