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Theory Manual Version 3.6
 Subsection 7.1.4: Discretization of the Contact Integral Up Section 7.1: Sliding Interfaces Subsection 7.1.6: Augmented Lagrangian Method 

7.1.5 Discretization of the Contact Stiffness

A similar procedure can now be used to calculate the discretized contact stiffness matrix. The linearization of the contact integral is repeated here: Using matrix notation we can rewrite equation (7.1.5-1) as, where is as above and similar to with replaced with , and is where, The following vectors are also defined which depend on the vectors of (7.1.5-4): where the matrix is defined as, Here, is the surface metric tensor and denotes the components of the surface curvature at .
 Subsection 7.1.4: Discretization of the Contact Integral Up Section 7.1: Sliding Interfaces Subsection 7.1.6: Augmented Lagrangian Method