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D. Kuhl and M. A. Cris-field, “Energy-Conserving and Decaying Algorithms in Non-Linear Structural Dynamics,” International Journal for Numerical Methods in Engineering, Vol. 45, No. 5, 1999, pp. 569-599. doi:10.1002/(SICI)1097-0207(19990620)45:5<569::AID-NME595>3.0.CO;2-A

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