  The following chapter deals with systems of differential equations with
discontinuous right-hand sides. The key question is how to define the solutions
of such systems. The most adequate approach is to treat discontinuous systems
as systems with multivalued right-hand sides (differential inclusions). In this
work three well-known definitions of solution of discontinuous system are
considered. We will demonstrate the difference between these definitions and
their application to different mechanical problems. Mathematical models of
drilling systems with discontinuous friction torque characteristics are
considered. Here, opposite to classical Coulomb symmetric friction law, the
friction torque characteristic is asymmetrical. Problem of sudden load change
is studied. Analytical methods of investigation of systems with such
asymmetrical friction based on the use of Lyapunov functions are demonstrated.
The Watt governor and Chua system are considered to show different aspects of
computer modeling of discontinuous systems.
