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Cited article:

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Stationary solutions in applied dynamics: A unified framework for the numerical calculation and stability assessment of periodic and quasi‐periodic solutions based on invariant manifolds

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GAMM-Mitteilungen 46 (2) (2023)
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A new way to compute the Lyapunov characteristic exponents for non-smooth and discontinues dynamical systems

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Conservative chaos in a simple oscillatory system with non-smooth nonlinearity

Peter A. Meleshenko, Mikhail E. Semenov and Alexander F. Klinskikh
Nonlinear Dynamics 101 (4) 2523 (2020)
https://doi.org/10.1007/s11071-020-05956-1