Efficient simulation of the bowed string in modal form

The motion of a bowed string is a typical nonlinear phenomenon resulting from a friction force via interaction with the bow. The system can be described using suitable differential equations. Implicit numerical discretisation methods are known to yield energy consistent algorithms, essential to ensure stability of the \sloppy time-stepping schemes. However, reliance on iterative nonlinear root finders carries significant implementation issues. This paper explores a method recently developed which allows nonlinear systems of ordinary differential equations to be solved non-iteratively. Case studies of a mass-spring system and an ideal string coupled with a bow are investigated. Finally, a stiff string with loss is also considered. Combining semi-discretisation and a modal approach results in an algorithm yielding faster than real-time simulation of typical musical strings.