In this work, we consider the discretization of nonlinear hyperbolic systems
in nonconservative form with the high-order discontinuous Galerkin spectral
element method (DGSEM) based on collocation of quadrature and interpolation
points (Kopriva and Gassner, J. Sci. Comput., 44 (2010), pp.136--155; Carpenter
et al., SIAM J. Sci. Comput., 36 (2014), pp.~B835-B867). We present a general
framework for the design of such schemes that satisfy a semi-discrete entropy
inequality for a given convex entropy function at any approximation order. The
framework is closely related to the one introduced for conservation laws by
Chen and Shu (J. Comput. Phys., 345 (2017), pp.~427--461) and relies on the
modification of the integral over discretization elements where we replace the
physical fluxes by entropy conservative numerical fluxes from Castro et al.
(SIAM J. Numer. Anal., 51 (2013), pp.~1371--1391), while entropy stable
numerical fluxes are used at element interfaces. Time discretization is
performed with strong-stability preserving Runge-Kutta schemes. We use this
framework for the discretization of two systems in one space-dimension: a
2×2 system with a nonconservative product associated to a
linearly-degenerate field for which the DGSEM fails to capture the physically
relevant solution, and the isentropic Baer-Nunziato model. For the latter, we
derive conditions on the numerical parameters of the discrete scheme to further
keep positivity of the partial densities and a maximum principle on the void
fractions. Numerical experiments support the conclusions of the present
analysis and highlight stability and robustness of the present schemes