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In recent years, there has been growing research interest in the virtual integration of hardware and software assets across different geographical locations. However, achieving joint real-time simulation in virtually connected laboratories presents several challenges that must be addressed. One critical aspect involves selecting suitable interface algorithms to conserve energy, ensure signal decomposition, and reconstruct data accurately, thereby preventing distortions. Additionally, communication latencies must be taken into account to maintain experiment fidelity. The establishment of fast and reliable communication between real-time simulators in different laboratories through coupling interfaces, is of utmost importance for successful real-time co-simulation. Nevertheless, assuming the constant availability of reliable and delay-free communication is unrealistic, which can lead to performance degradation and system instability. These requirements pose significant obstacles to implementing virtual integration involving various real-time simulators and hardware-in-the-loop setups across diverse laboratories. The real-time co-simulation of power systems, in particular, is highly susceptible to ineffective interface algorithms, signal decomposition, and reconstruction, as well as communication delays, potentially causing loss of synchronism and negatively impacting simulation fidelity. Consequently, these limitations render such setups unsuitable for dynamic and transient studies. In light of these challenges, this paper aims to provide an overview of interface algorithms, signal decomposition and reconstruction techniques, communication protocols, and delay compensation approaches. The goal is to ensure system fidelity, enhance coupling point modeling, and improve the accuracy of real-time co-simulation in virtual environments across long distances while preserving ongoing research confidentiality, safeguarding intellectual property, and facilitating collaborative research.

Overview of Interface Algorithms, Interface Signals, Communication and Delay in Real-Time Co-Simulation of Distributed Power Systems