Geodesic
One-Step Methods of Any Order for Ordinary Differential Equations with Discontinuous Right-Hand Sides.
Numerische Mathematik, Tome 31 (1978), pp. 131-152.

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@article{NUMA_1978__31_132572,
     author = {R. Mannshardt},
     title = {One-Step {Methods} of {Any} {Order} for {Ordinary} {Differential} {Equations} with {Discontinuous} {Right-Hand} {Sides.}},
     journal = {Numerische Mathematik},
     pages = {131--152},
     publisher = {mathdoc},
     volume = {31},
     year = {1978},
     zbl = {0373.65037},
     url = {http://geodesic.mathdoc.fr/item/NUMA_1978__31_132572/}
}
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R. Mannshardt. One-Step Methods of Any Order for Ordinary Differential Equations with Discontinuous Right-Hand Sides.. Numerische Mathematik, Tome 31 (1978), pp. 131-152. http://geodesic.mathdoc.fr/item/NUMA_1978__31_132572/