T. Schindler and V. Acary, Timestepping schemes for nonsmooth dynamics based on discontinuous Galerkin methods: Definition and outlook, Mathematics and Computers in Simulation, vol.95, 2011.
DOI : 10.1016/j.matcom.2012.04.012

URL : https://hal.archives-ouvertes.fr/hal-00762850

P. Flores, R. Leine, and C. Glocker, Modeling and analysis of planar rigid multibody systems with translational clearance joints based on the non-smooth dynamics approach, Multibody System Dynamics, vol.76, issue.11, pp.165-190, 2010.
DOI : 10.1007/s11044-009-9178-y

URL : https://hal.archives-ouvertes.fr/hal-01435625