# MTK simulation allocation free?
**URL:** https://discourse.julialang.org/t/mtk-simulation-allocation-free/119581
**Category:** Modelling & Simulations
**Tags:** question, modelingtoolkit
**Created:** [September 19, 2024, 3:39am UTC](https://discourse.julialang.org/t/mtk-simulation-allocation-free/119581 "2024-09-19T03:39:17Z")
**Posts on this page:** 2
**Page:** 1
### Author:  [@ufechner7](https://discourse.julialang.org/u/ufechner7)
#### Post date: [September 19, 2024, 3:39am UTC](https://discourse.julialang.org/t/mtk-simulation-allocation-free/119581/1 "2024-09-19T03:39:17Z")
Is it possible to simulate an MTK model allocation-free?
The task is to run a simulation in a control loop with 1ms update interval in real-time.
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### Author:  [@baggepinnen](https://discourse.julialang.org/u/baggepinnen)
#### Post date: [September 19, 2024, 4:22am UTC](https://discourse.julialang.org/t/mtk-simulation-allocation-free/119581/2 "2024-09-19T04:22:20Z")
Under certain circumstances (ODE of not too large state dimension) it is possible.
You can use [`ModelingToolkit.generate_control_function`](https://docs.sciml.ai/ModelingToolkit/dev/basics/InputOutput/#Generating-a-dynamics-function-with-inputs,-f) to generate the dynamics function with inputs, and then [`SeeToDee.Rk4`](https://baggepinnen.github.io/SeeToDee.jl/dev/) which is an allocation-free RK4 integrator when used with StaticArrays to discretize this dynamics and step it forward with your desired sample interval.