Abstract: Systems and methods of limiting contact penetration in numerical simulation of non-linear structure response using implicit finite element analysis are described. According to one aspect, a finite element analysis (FEA) model of a structure is defined as a number of nodes and elements based on geometry and material properties of the structure. A time-marching analysis of the FEA model is then performed. The time-marching analysis results contain a number of solutions of non-linear structure response at respective time steps. Solution at each time step requires at least one iteration to compute. Non-linear structure response is determined in the following manner: 1) determining a search direction; 2) calculating a contact penetration parameter in the search direction; and 3) finding a minimum energy imbalance location along the search direction as a solution which is further restricted by the CPP such that contact penetration of the structure is substantially limited.