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Abstract To simulate closed-loop multibody systems in effective and accurate way, the semi-recursive formulations can be used together with optimal numerical integrators. Although numerous contributions have been reported in this field, there still exists a demand to improve the computation efficiency for the faster-than-real-time simulation and hardware-in-the-loop control applications. This paper presents an iterative refinement algorithm to accelerate the numerical integration process of a semi-recursive multibody formulation. By reusing the constraint Jacobian matrix factorization and gen...