Chain of impacting pendulums as non-analytically perturbed sine-Gordon   system
  We investigate a mechanical system consisting of infinite number of harmonically coupled pendulums which can impact on two rigid rods. Because of gravitational force the system has two degenerate ground states. The related topological kink - likely the simplest one presented in literature so far - is a compacton, that is it has strictly finite extension. In the present paper we elucidate the relation of such system with sine-Gordon model. Also, solutions describing waves with large amplitude, and an asymptotic formula for the width of the kink are obtained. 
H. Arodz and P. Klimas