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An updated and expanded edition that now reflects the many recent developments in simulation and computer modeling theory and practice. Gives fast and accurate numerical methods that are ideally suited to simulating both linear and nonlinear systems for design and for ``real time'' training. Includes a new section on the use of modern numerical methods for generating chaos and simulating random processes, provides information on simulator verification, and integrates material on the personal computer throughout the text. Also gives examples of computer programs in BASIC, and new material on the development and application of numerical methods in both the time and frequency domains. Expanded references.