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Stochastic dynamical systems are fundamental in state estimation, systemidentification and control. System models are often provided in continuoustime, while a major part of the applied theory is developed for discrete-timesystems. Discretization of continuous-time models is hence fundamental. Wepresent a novel algorithm using a combination of Lyapunov equations andanalytical solutions, enabling efficient implementation in software. Theproposed method circumvents numerical problems exhibited by standard algorithmsin the literature. Both theoretical and simulation results are provided.

Discretizing stochastic dynamical systems using Lyapunov equations