Simulink/SimMechanics: how to refer to a value from the previous time step

Question

Is it possible to refer to values that are determined in a previous time step, using Simulink/SimMechanics?

Context

I am modeling a system in SimMechanics where the positions of joints are driven by the output of a state-space system. The input for this state-space system are also the positions of these joints. Clearly, this creates the need for algebraic loops. If I understand it correctly, in SimMechanics a solution is searched where all subsystems are consistent at every time step.

For my specific problem, I want to try a partitioned approach. That is, I want to use the positions of the previous time step as input for my state-space system. Thereby, I won't need algebraic loops anymore.

Thanks in advance!

Answer 1

[Azzi Abdelmalek]

Use Unit Delay block

[Roelant]

Thanks, Azzi. That does the job!