Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics. Acary, V. & Brogliato, B. Springer-Verlag, New York, 2008.
bibtex   
@book{ Brogliato,
  author = {Acary, Vincent  and Brogliato, Bernard },
  title = {Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics},
  series = {Lecture Notes in Applied and Applied and Computational Mechanics},
  publisher = {Springer-Verlag},
  address = {New York},
  year = {2008},
  pages = {xxxiv+526+I69},
  isbn = {0-387-95580-1},
  mrclass = {90-02 (15A39 49J40 65K10 90C33)},
  mrnumber = {1955648 (2004g:90003a)},
  mrreviewer = {Daniel Ralph}
}

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