How to reset the ODE solver states in Simulink at each time step and update the states using ground truth values when a user defined condition is met?

Hi all,

I was wondering how to reset the ODE solver states in Simulink at each time step, and update the states using ground truth values whenever a user defined condition?

Consider a simulink model that involves integrating one or more ODE functions using an ODE solver, such as the 6DOF equations of motion of a rigid-body. The simulink model of interest is meant to simulate the motion of the rigid-body (with initial conditions from a ground-truth dataset at the first time-step), and then simulate the states of the rigid-body in the future time-steps as close to the ground-truth states as the model accuracy allows. It is desired to update (re-initialize) the state of the integrators to ground truth state values whenever the integrated states at the previous time-step do not meet a user-defined threshold.

This can be done simply in MATLAB. However, I'm not sure how this is done in Simulink.

Please let me know how this may be done in Simulink. Thank you in advance.

Regards,

Ben