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Cited article:

Integrating Lipschitzian dynamical systems using piecewise algorithmic differentiation

Andreas Griewank, Richard Hasenfelder, Manuel Radons, Lutz Lehmann and Tom Streubel
Optimization Methods and Software 33 (4-6) 1089 (2018)
https://doi.org/10.1080/10556788.2017.1378653