Discrete dynamics of complex bodies with substructural dissipation:   variational integrators and convergence
  For the linearized setting of the dynamics of complex bodies we construct variational integrators and prove their convergence by making use of BV estimates on the rate fields. We allow for peculiar substructural inertia and internal dissipation, all accounted for by a d'Alembert-Lagrange-type principle. 
Matteo Focardi, Paolo Maria Mariano