https://www.researchgate.net/publication/299604992_Contact_Force_Models_for_Multibody_Dynamics
(PDF) Contact Force Models for Multibody Dynamics
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http://www.kves.uniza.sk/kvesnew/dokumenty/DREP/Filters/SecondOrderFilters.pdf
https://www.pdx.edu/nanogroup/sites/www.pdx.edu.nanogroup/files/NOTES_Transfer function Laplace Transormation Active filter_0.pdf