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We present the numerical analysis of sliding dynamics on the discontinuity boundary (DB) of three-dimensional (3D) Filippov systems using an integration-free method denominated Singular Point Tracking (SPT). Many physical applications in engineering can be modelled as Filippov systems. Sliding dynamics due to non-smooth phenomena such as friction, hysteresis or switching are inherent to Filippov systems. The analysis of sliding dynamics have many mathematical and numerical difficulties. Severalfatcat:mah3bxzo7fgkdmuskes3nq6vca