  This work deals with the integration of nonsmooth flexible multibody systems
with impacts and dry friction. We develop a framework which improves a
non-impulsive trajectory of state variables by impulsive correction after each
time-step if necessary. This correction is automatic and is evaluated on the
same kinematic level as the piecewise non-impulsive trajectory. The resulting
overall mixed timestepping scheme is consistent with respect to impacts and
friction as well as benefits from advantages of the base integration schemes
used to calculate the approximation inside the time-step. Therefore, we compare
the generalized-$\alpha$ method, the Bathe method and the ED-$\alpha$ method.
