1. A non-transitory computer-readable medium storing computer-executable instructions executable by a processor, the medium storing one or more instructions for: determining a delay incurred in a first component in a model, the first component operating at a first rate in the model; determining a delay incurred in a second component in the model, the second component operating at a second rate in the model, the second rate being different than the first rate; adding a first rate compensation component to the model that compensates for a delay incurred at the first rate; and adding a second rate compensation component to the model that compensates for a delay incurred at the second rate.