Controller stepsize in Forward dynamics

[Yuichiro Omura]

Hi,
In the forward dynamics of OpenSim, I understand that an integrator integrates with variable stepsize based on parameters (e.g., maximum step size, minimum step size, and accuracy) in simulations.
Is the controller step size the same as the integrator step size, which means the controller outputs muscle activation in each step?
If so, is the frequency of the controller's control not constant?

Best regards,
Yuichiro

[Thomas Uchida]

If you're using a controller implemented as a plug-in, the plug-in developer may have included a delay, zero-order hold, etc. However, by default, the control signals will be computed at each integration time step.