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How to increase the accuracy of autogenerated code?

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I have a simulink model that propagates some dynamics based on dynamic equation of motion.
I am using simulink autocode to generate code.
When I compare the models I notice the error starts to diverge a lot as simulation time passes.
My question is: For dynamic systems when we have to take derivatives and integration at every time step, is there a setup I have to do? or there are best practices to generate code for this kind of systems?
I would like the error between the simulink model and the generated code as small as possible.

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