A Differential Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations

Figure 5

Simulation of the system (27) by RK4 with the timestep size 0.001 s. The parameters are chosen as 𝑀=1 kg, 𝑓_𝑒=−9.8 N, 𝐾=10⁵ N/m, 𝛽=0.01 s, and 𝛼=0.01 s (gray dashed), 0.007 s (black dashed), 0.005 s (gray solid), and 0.001 s (black solid). The initial conditions are 𝑝=1 m, and 𝑝̇=0 m/s.