The task of finding the beat in music is simple for most people, but surprisingly difficult to replicate in a robot. Progress in this problem has been made using various preprocessing techniques (Hitz 2008; Tomic and Janata 2008). However, a real-time method is not yet available. Methods using a class of oscillators called relay relaxation oscillators are promising. In particular, systems of forced Hopf oscillators (Large 2000; Righetti et al. 2006) have been used with relative success. This work describes current methods of beat tracking and develops a new method that incorporates the best ideas from each existing method and removes the necessity for preprocessing.