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Cited article:

A nonsmooth frictional contact formulation for multibody system dynamics

Javier Galvez, Federico J. Cavalieri, Alejandro Cosimo, Olivier Brüls and Alberto Cardona
International Journal for Numerical Methods in Engineering 121 (16) 3584 (2020)
https://doi.org/10.1002/nme.6371

A formulation of the linear discrete Coulomb friction problem via convex optimization

V. Acary, F. Cadoux, C. Lemaréchal and J. Malick
ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik 91 (2) 155 (2011)
https://doi.org/10.1002/zamm.201000073

Some remarks on time-dependent variational problems and their asymptotic behaviour

Mihai Bostan and Vanessa Lleras
Nonlinear Analysis: Theory, Methods & Applications 73 (6) 1820 (2010)
https://doi.org/10.1016/j.na.2010.05.017