A very simple and general expression of the consistent tangent matrix for substep-
ping time-integration schemes is presented. If needed, the derivatives required for
the computation of the consistent tangent moduli can be obtained via numerical dif-
ferentiation. These two strategies (substepping and numerical differentiation) lead
to quadratic convergence in complex nonlinear inelasticity problems.
Pérez-Foguet, A.; Rodriguez, A.; Huerta, A. "Consistent tangent matrices for substepping schemes". 1999.