The implicit midpoint rule applied to discontinuous differential equations (Q1195793)

The numerical solution of initial value problems with state-discontinuous right-hand sides is discussed. The author considers a broad class of set- valued right-hand sides and studied the covergence of the implicit midpoint rule. It is shown that the essential assumptions for establishing the order of convergence are the right-hand side has a closed graph and satisfies a uniform one-sided Lipschitz condition. An example of a mechanical system with forced vibrations and combined dry and Coulomb friction, that can be analyzed analytically, is used for numerical tests of the algorithm.