]. H. Abou-kandil03, G. Abou-kandil, G. Freiling, E. V. Jank, and . Ionescu, Matrix Riccati equations in control and systems theory, Birkhäuser, 2003.
DOI : 10.1007/978-3-0348-8081-7

]. H. Abou-kandil04, M. Abou-kandil, and . Jungers, Commande optimale multicritère : introduction à la théorie des jeux, chapitre 5. Hermès, 2004.

]. V. Adamjan71, D. Adamjan, E. M. Arov, and . Krein, ANALYTIC PROPERTIES OF SCHMIDT PAIRS FOR A HANKEL OPERATOR AND THE GENERALIZED SCHUR-TAKAGI PROBLEM, Math. USSR Sbornik, tome 15, pp.31-73, 1971.
DOI : 10.1070/SM1971v015n01ABEH001531

]. C. Albitar07, P. Albitar, C. Graebling, and . Doignon, Design of a Monochromatic Pattern for a Robust Structured Light Coding, 2007 IEEE International Conference on Image Processing, 2007.
DOI : 10.1109/ICIP.2007.4379638

]. Y. Aoustin94, C. Aoustin, A. Chevallereau, C. Glumineau, and . Moog, Experimental results for the end-effector control of a single flexible robotic arm, IEEE Transactions on Control Systems Technology, vol.2, issue.4, pp.371-381, 1994.
DOI : 10.1109/87.338658

]. P. Apkarian95, P. G. Apkarian, G. Et, and . Becker, Self-scheduled H??? control of linear parameter-varying systems: a design example, Automatica, vol.31, issue.9, pp.1251-1261, 1995.
DOI : 10.1016/0005-1098(95)00038-X

M. Arteaga and B. Siciliano, «On tracking control of flexible robot arms». Automatic Control, IEEE Transactions, vol.45, pp.520-527, 2000.

]. D. Bibliographiearzelier02, D. Arzelier, and . Peaucelle, «An iterative method for mixed H2/H synthesis wia static output-feedback», «IEEE Conf. Decision and Control (CDC)», 2002.

]. D. Arzelier04, D. Arzelier, and . Peaucelle, «Multiobjective H2/H impulse?to?peak synthesis : application to the control of an aerospace launcher», «IFAC Symp. Automatic Control in Aerospace (ACA)», Saint-Petersbourg, 2004.

]. D. Atkinson91, P. Atkinson, E. J. Acarney, and . Finch, Observers for induction motor state and parameter estimation, IEEE Transactions on Industry Applications, vol.27, issue.6, pp.1119-1127, 1991.
DOI : 10.1109/28.108463

]. W. Bachta07b, P. Bachta, E. Renaud, J. Laroche, E. A. Gangloff et al., «Cardiolock : an active cardiac stabilizer, first in vivo experiments using a new robotized device», «Medical Image Computing and Computer- Assisted Intervention (MICCAI), 2007.

]. W. Bachta07c, P. Bachta, E. Renaud, J. Laroche, and . Gangloff, Forgione. «Progress towards a robotized heart stabilizer design and control», Conf. Intelligent Robots and Sytems (IROS)», 2007.

]. R. Banavar95, P. Banavar, and . Dominic, An LQG/H/sub ???/ controller for a flexible manipulator, IEEE Transactions on Control Systems Technology, vol.3, issue.4, pp.409-416, 1995.
DOI : 10.1109/87.481965

]. L. Barbé06, B. Barbé, M. Bayle, and . De-mathelin, TOWARDS THE AUTOTUNING OF FORCE-FEEDBACK TELEOPERATORS, «IFAC Symposium on Robot Control (SYROCO), 2006.
DOI : 10.3182/20060906-3-IT-2910.00081

]. L. Bascetta06, P. Bascetta, and . Rocco, Two-time scale visual servoing of eye-in-hand flexible manipulators, IEEE Transactions on Robotics, vol.22, issue.4, pp.818-830, 2006.
DOI : 10.1109/TRO.2006.878946

]. C. Beck96, J. Beck, E. K. Doyle, and . Glover, Model reduction of multidimensional and uncertain systems, IEEE Transactions on Automatic Control, vol.41, issue.10, pp.1466-1477, 1996.
DOI : 10.1109/9.539427

]. M. Benosman02, F. Benosman, G. Boyer, E. D. Vey, and . Primault, «Flexible links manipulator : from modeling to control», Journal of Intelligent and Robotic Systems, vol.34, issue.4, pp.381-414, 2002.
DOI : 10.1023/A:1019639517064

]. M. Benosman03, G. L. Benosman, and . Vey, Stable inversion of SISO nonminimum phase linear systems through output planning: An experimental application to the one-link flexible manipulator, IEEE Transactions on Control Systems Technology, vol.11, issue.4, pp.588-597, 2003.
DOI : 10.1109/TCST.2003.813372

]. F. Blaschke72 and . Blaschke, «The principle of field orientation as applied to the new transvector closed-loop control system for rotating-field machines». Siemens Revue, 1972.

]. G. Bornard93, F. Bornard, E. G. Celle-couenne, and . Gilles, Observation, Observabilité, tome 1, chapitre 5, pp.177-221, 1993.

]. R. Braatz94, P. M. Braatz, J. C. Young, E. M. Doyle, and . Morari, Computational complexity of ?? calculation, IEEE Transactions on Automatic Control, vol.39, issue.5, pp.1000-1002, 1994.
DOI : 10.1109/9.284879

]. M. Brown05, A. Brown, E. R. Majumder, and . Yang, Camera-based calibration techniques for seamless multiprojector displays, IEEE Transactions on Visualization and Computer Graphics, vol.11, issue.2, pp.193-206, 2005.
DOI : 10.1109/TVCG.2005.27

]. B. Buckless92, E. Buckless, and . Petry, Genetic Algorithms, 1992.

]. C. Canudasdewitt96, B. Canudas-de-witt, E. G. Siciliano, and . Bastin, Theory of robot control, 1996.

]. S. Carusone93, A. Carusone, I. Tzes, K. Lee, and . Hillsley, Experiments in end-effector tracking control for structurally flexible space manipulators, IEEE Transactions on Robotics and Automation, vol.9, issue.5, pp.553-560, 1993.
DOI : 10.1109/70.258048

]. P. Cattin04, H. Cattin, J. Dave, G. Grünenfelder, M. Szekely et al., Trajectory of coronary motion and its significance in robotic motion cancellation???, European Journal of Cardio-Thoracic Surgery, vol.25, issue.5, pp.786-790, 2004.
DOI : 10.1016/j.ejcts.2004.01.019

]. M. Cava89, C. Cava, E. F. Picardi, and . Ranieri, «Application of the extended Kalman filter to parameter and state estimation of induction motors», Int. J. of Modelling and Simulation, vol.9, issue.3, pp.85-89, 1989.

M. Chilali and P. Gahinet, H/sub ???/ design with pole placement constraints: an LMI approach, IEEE Transactions on Automatic Control, vol.41, issue.3, pp.358-367, 1996.
DOI : 10.1109/9.486637

]. P. Corke96a and . Corke, Visual control of robots, 1996.

]. P. Corke96b, M. Corke, and . Good, «Dynamic effects in visual closed-loop systems»

]. L. Cuvillon05a, E. Cuvillon, J. Laroche, M. Gangloff, and . De-mathelin, GPC versus H??? Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570740

]. L. Cuvillon05b, E. Cuvillon, J. Laroche, M. Gangloff, and . De-mathelin, «GPC versus H ? control for fast visual servoing of a medical manipulator including 192

]. L. Cuvillon06a and . Cuvillon, Compensation du battement cardiaque en chirurgie robotisée : Asservissement visuel d'un robot médical avec flexibilités, Thèse de doctorat Olivier Sename (rapp. externe), Philippe Poignet (rapp. externe), Said Ahzi (rapp. interne), 2006.

]. L. Cuvillon06b, J. Cuvillon, M. Gangloff, and . De-mathelin, Forgione. «Towards robotized beating heart TECABG : assessment of the heart dynamics using high-speed vision», Computer Aided Surgery, issue.11 5, pp.267-277, 2006.

]. J. Daafouz98, C. Daafouz, E. J. Garcia, and . Bernussou, Robust control of a flexible robot arm using the quadratic d-stability approach, IEEE Transactions on Control Systems Technology, vol.6, issue.4, pp.524-532, 1998.
DOI : 10.1109/87.701347

[. and S. Khatri, «Kalman decomposition of linear fractional transformation representations and minimality», «American Control Conference (ACC), 1997.

]. P. Danes06, D. Danes, and . Bellot, Towards an LMI Approach to Multicriteria Visual Servoing in Robotics, European Journal of Control, vol.12, issue.1, pp.86-110, 2006.
DOI : 10.3166/ejc.12.86-110

]. N. Diolaiti04, C. Diolaiti, E. S. Melchiorri, and . Stramiglioli, «Contact impedence estimation for robotic systems», Conf. Intelligent Robots and Systems», 2004.

]. C. Döll99, G. Döll, E. J. Ferreres, and . Magni, «µ tools for flight control robustness assessment», Aerospace Sciences and Technologies, vol.3, issue.3, pp.177-189, 1999.

]. J. Doyle82 and . Doyle, Analysis of feedback systems with structured uncertainties, IEE Proceedings -part D, tome 129, pp.242-250, 1982.
DOI : 10.1049/ip-d.1982.0053

]. J. Doyle83 and . Doyle, Synthesis of robust controllers and filters, The 22nd IEEE Conference on Decision and Control, 1983.
DOI : 10.1109/CDC.1983.269806

]. J. Doyle89, K. Doyle, P. Glover, E. B. Khargonekar, and . Francis, «State-space solutions to standard H 2 and H ? control problems», IEEE Trans. Autom. Control, vol.34, 1989.

]. G. Duc99, S. Duc, and . Font, Commande H ? et µ-analyse, 1999.

]. G. Duchemin05, P. Duchemin, P. Maillet, E. Poignet, E. F. Dombre et al., A Hybrid Position/Force Control Approach for Identification of Deformation Models of Skin and Underlying Tissues, IEEE Transactions on Biomedical Engineering, vol.52, issue.2, pp.160-170, 2005.
DOI : 10.1109/TBME.2004.840505

]. C. Döll98, J. Döll, G. Magni, E. S. Looye, and . Bennami, «Robustness analysis applied to autopilot design : Evaluation of a new tool for µ-analysis»

]. B. Espiau92, F. Espiau, E. P. Chaumette, and . Rives, A new approach to visual servoing in robotics, IEEE Transactions on Robotics and Automation, vol.8, issue.3, pp.313-326, 1992.
DOI : 10.1109/70.143350

]. S. Ettou04 and . Ettou, Analyse de la robustesse de systèmes robotiques, Thèse de maître, 2004.

]. M. Fan91, A. Fan, E. J. Tits, and . Doyle, Robustness in the presence of mixed parametric uncertainty and unmodeled dynamics, IEEE Transactions on Automatic Control, vol.36, issue.1, pp.25-38, 1991.
DOI : 10.1109/9.62265

]. E. Feron96, P. Feron, E. P. Apkarian, and . Gahinet, Analysis and synthesis of robust control systems via parameter-dependent Lyapunov functions, IEEE Transactions on Automatic Control, vol.41, issue.7, pp.1041-1046, 1996.
DOI : 10.1109/9.508913

]. G. Ferreres98, J. Ferreres, and . Biannic, «A µ analysis technique without frequency gridding», «American Control Conference», 1998.

]. G. Ferreres04, J. Ferreres, E. J. Biannic, and . Magni, A skew mu toolbox (SMT) for robustness analysis, 2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508), 2004.
DOI : 10.1109/CACSD.2004.1393894

]. R. Fletcher87 and . Fletcher, Practical Methods of Optimization, 1987.
DOI : 10.1002/9781118723203

]. M. Fliess07, C. Fliess, and . Join, Sira-Ramirez. «Non-linear estimation is easy», Int. J. Modelling, Identification and Control, 2007.

]. R. Fomena07, F. Fomena, and . Chaumette, Visual Servoing from Spheres with Paracatadioptric Cameras, Conf. on Advanced Robotics, ICAR'07», 2007.
DOI : 10.1007/978-3-540-76729-9_16

]. C. Forest04, H. Forest, and . Delingette, Ayache. «Surface contact and reaction force models for laparoscopic simulation», «International Symposium on Medical Simulation», 2004.

]. U. Forssell00, L. Forssell, and . Ljung, «A projection method for closed-loop identification», IEEE Trans. Autom. Control, tome, vol.45, issue.11, pp.2101-2106, 2000.

]. J. Friang98, G. Friang, E. J. Duc, and . Bonnet, Robust autopilot for a flexible missile: loop???shaping H design and real ??-analysis, International Journal of Robust and Nonlinear Control, vol.8, issue.2, pp.129-153, 1998.
DOI : 10.1002/(SICI)1099-1239(199802)8:2<129::AID-RNC325>3.3.CO;2-O

]. P. Gahinet94, P. Gahinet, and . Apkarian, A linear matrix inequality approach toH??? control, International Journal of Robust and Nonlinear Control, vol.29, issue.4, pp.421-448, 1994.
DOI : 10.1002/rnc.4590040403

]. P. Bibliographie-[-gahinet96 and . Gahinet, «Explicit controller formulas for LMI-based H ? synthesis», Automatica, vol.32, issue.7, pp.1007-1014, 1996.

J. Gangloff and M. De-mathelin, High-speed visual servoing of a 6-d.o.f. manipulator using multivariable predictive control, Advanced Robotics, vol.17, issue.10, pp.993-1021, 2003.
DOI : 10.1163/156855303322554391

]. B. Gao06, S. Gao, E. P. Tarbouriech, and . Souères, «Image-based target tracking with multi-contraints satisfaction», «IFAC Symposium on Robust Control Design (ROCOND)», 2006.

]. S. Garg82, P. Garg, and . Ouzts, «Integrated flight/propulsion control design for a STOVL aircraft using H-infinity control design techinques», «American Control Conference (ACC), 1982.

]. H. Garnier06, M. Garnier, E. T. Gilson, and . Bastogne, «Identification de modèles paramétriques à temps continu. Méthodes, outil logiciel et avantages», «Journées Identification et Modélisation Expérimentale (JIME), 2006.

]. H. Garnier07, M. Garnier, P. Gilson, E. Young, and . Huselstein, An optimal IV technique for identifying continuous-time transfer function model of multiple input systems, Control Engineering Practice, vol.15, issue.4, pp.471-486, 2007.
DOI : 10.1016/j.conengprac.2006.09.004

M. Gautier and W. Khalil, Direct calculation of minimum set of inertial parameters of serial robots, IEEE Transactions on Robotics and Automation, vol.6, issue.3, pp.368-373, 1990.
DOI : 10.1109/70.56655

M. Gautier and P. Poignet, Extended Kalman filtering and weighted least squares dynamic identification of robot, Control Engineering Practice, vol.9, issue.12, pp.1361-1372, 2001.
DOI : 10.1016/S0967-0661(01)00105-8

M. Gautier and P. Poignet, «Identification en boucle fermée par modèles inverse des paramètres physiques de systèmes mécatroniques», Journal Européen des Systèmes Automatisés, vol.36, p.3, 2002.

]. H. Geniele97, R. Geniele, E. K. Patel, and . Khorasani, «End-point control of a flexiblelink manipulator : theory and experiments». Control Systems Technology, IEEE Transactions on, vol.5, pp.556-570, 1997.

]. P. Gill81, W. Gill, E. M. Murray, and . Wright, Practical Optimization, 1981.

]. R. Ginhoux05, J. Ginhoux, M. Gangloff, L. De-mathelin, M. A. Soler et al., «Active filtering of physiological motion in robotized surgery using predictive control», IEEE Trans. Robot, issue.1, pp.67-79, 2005.

]. K. Glover84 and . Glover, -error bounds???, International Journal of Control, vol.127, issue.6, pp.1115-1194, 1984.
DOI : 10.1109/TIT.1961.1057636

]. K. Glover88, J. Glover, and . Doyle, «State-space formulae for all stabilizing controllers that satisfy an Hnorm bound and relations to risk sensitivity». Systems and Control letters, pp.167-172, 1988.

]. S. Gugercin03, A. Gugercin, E. H. Antoulas, and . Zhang, An approach to identification for robust control, IEEE Transactions on Automatic Control, vol.48, issue.6, pp.1109-1115, 2003.
DOI : 10.1109/TAC.2003.812821

]. K. Hashimoto96, T. Hashimoto, E. H. Ebine, and . Kimura, Visual servoing with hand-eye manipulator-optimal control approach, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.766-774, 1996.
DOI : 10.1109/70.538981

]. L. Howell01 and . Howell, Compliant mechanism, 2001.

]. E. Huselstein04, M. Huselstein, H. Gilson, E. A. Garnier, and . Richard, «Instrumental variable algorithms for multiple input systems described by multiple continuous-time TF models», «Asian Control Conference», 2004.

]. S. Hutchinson96, G. D. Hutchinson, P. I. Hager, and . Corke, A tutorial on visual servo control, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.651-670, 1996.
DOI : 10.1109/70.538972

]. T. Iwasaki94, R. Iwasaki, and . Skelton, All controllers for the general H??? control problem: LMI existence conditions and state space formulas, Automatica, vol.30, issue.8, pp.1307-1317, 1994.
DOI : 10.1016/0005-1098(94)90110-4

]. T. Iwasaki98, S. Iwasaki, and . Hara, Well-posedness of feedback systems: insights into exact robustness analysis and approximate computations, IEEE Transactions on Automatic Control, vol.43, issue.5, pp.619-630, 1998.
DOI : 10.1109/9.668829

]. T. Iwasaki01, S. Iwasaki, and . Hara, LPV system analysis via quadratic separator for uncertain implicit systems, IEEE Transactions on Automatic Control, vol.46, issue.8, pp.1195-1208, 2001.
DOI : 10.1109/9.940924

]. G. Jank03 and . Jank, Abou-Kandil. «Existence and uniqueness of open-loop Nash equilibria in linear-quadratic discrete time games», IEEE Trans

]. W. Khalil99, E. Khalil, and . Dombre, Modelisation, identification et commande des robots, Hermes, 1999.

]. W. Khalil00, M. Khalil, and . Gautier, Modeling of mechanical systems with lumped elasticity, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.2965-2970, 2000.
DOI : 10.1109/ROBOT.2000.845349

]. D. Knittel02, D. Knittel, E. Gigan, M. Laroche, and . De-mathelin, Decentralized H??? control of large scale web transport systems, «IFAC World Congress», 2002.
DOI : 10.3182/20020721-6-ES-1901.00546

]. H. Bibliographie-[-koç00, H. Koç, D. Koç, M. Knittel, G. De-mathelin et al., Modélisation et commande robuste d'un système d'entraînement de bande flexible Thèse de doctorat «Modeling and robust control of winding systems for elastic webs» «Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing», IEEE Trans. on Control System Technology IEEE Trans. Robot. Autom, vol.10, issue.5, pp.197-208, 2000.

M. A. Barbé, B. Baylelaroche00, ]. E. Laroche, E. Sedda, C. Durieu et al., «Online robust model estimation and haptic clues detection during in vivo needle insertions» «Erreurs de modélisation d'une machine asynchrone ? application au réglage d'un filtre de Kalman», «Conference on Biomedical Robotics and Biomechatronics (BioRob), pp.7-37, 2000.

]. E. Laroche04a, Y. Laroche, H. Bonnassieux, E. J. Abou-kandil, and . Louis, Controller design and robustness analysis for induction machine-based positioning system, Control Engineering Practice, vol.12, issue.6, pp.757-767, 2004.
DOI : 10.1016/j.conengprac.2003.09.001

]. E. Laroche04b, M. Laroche, and . Boutayeb, «Identification of a class of nonlinear systems -analysis and robustness», «IFAC Symposium Nonlinear Control Systems», 2004.

]. E. Laroche05a, C. Laroche, E. J. Durieu, and . Louis, Parameter estimation accuracy analysis for induction motors, European Transactions on Electrical Power, vol.26, issue.2, pp.123-139, 2005.
DOI : 10.1002/etep.43

]. E. Laroche05b, D. Laroche, and . Knittel, An improved linear fractional model for robustness analysis of a winding system, Control Engineering Practice, vol.13, issue.5, pp.659-666, 2005.
DOI : 10.1016/j.conengprac.2004.05.008

]. E. Laroche06a, P. Laroche, and . Celka, «Identifiabilité des dynamiques d'un manipulateur flexible par vision», «Journées Identification et Modélisation Expérimentale (JIME)», 2006.

]. E. Laroche06b, L. Laroche, J. Cuvillon, M. Gangloff, ]. E. De-mathelinlaroche07 et al., «Accounting for flexibilities in visual servoing» Identification en Régime Permanent, Dans «IFAC Symp. Robust Control Design» Hermes, vol.1, issue.1, 2006.

]. E. Laroche08a, J. Laroche, and . Delavigne, Dynamical Effects of Vision-Based Position Measurement, «IFAC World Congress», 2008.
DOI : 10.3182/20080706-5-KR-1001.01271

]. E. Laroche08b, E. Laroche, C. Sedda, and . Durieu, «Methodological Insights for Online Estimation of Induction Motor Parameters», IEEE Trans. Contr. Syst. Technol, 2008.

]. B. Lemaire-semail99, J. Lemaire-semail, E. F. Louis, and . Bouillault, Computation of induction machine inductances for extended analytical modeling accounting for saturation, The European Physical Journal Applied Physics, vol.5, issue.3, pp.257-267, 1999.
DOI : 10.1051/epjap:1999138

]. J. Lohmiller98, J. Lohmiller, ]. D. Slotineloisance05, K. Loisance, M. Nakashima et al., On Contraction Analysis for Non-linear Systems, Modélisation des machines électriques en vue de leur commande. [Magni01] J. Magni. «Linear Fractional Representation with a Toolbox for Use with Matlab». Rapport techniqueMan97] K. F. Man, K. S. Tang, S. Kwong, et W. A. Halang. Genetic Algorithms for Control and Signal Processing, pp.683-696, 1997.
DOI : 10.1016/S0005-1098(98)00019-3

]. D. Marhefka99, D. Marhefka, ]. A. Orinde-luca93, B. De-luca, and . Siciliano, A compliant contact model with nonlinear damping for simulation of robotic systems, AIAA J. Guidance Control and Dynamics, pp.566-572, 1991.
DOI : 10.1109/3468.798060

]. D. Mcfarlane92, K. Mcfarlane, ]. E. Glovermolinari05, M. Molinari, G. Fato et al., A loop-shaping design procedure using H/sub infinity / synthesis, IEEE Transactions on Automatic Control, vol.37, issue.6, pp.759-769, 1992.
DOI : 10.1109/9.256330

]. J. Montagnat05, H. Montagnat, and . Delingette, 4D deformable models with temporal constraints: application to 4D cardiac image segmentation, Medical Image Analysis, vol.9, issue.1, pp.87-100, 2005.
DOI : 10.1016/j.media.2004.06.025

]. B. Bibliographie-[-moore81, . Mooremorel05-]-g, P. Morel, F. Zanne, H. Plestan-ishikawa et al., «Robust Visual Servoing : Bounding the task Function Tracking Errors» «1 ms column parallel vision system and its application of high speed target tracking», Conf. Robot. Autom.», tome 1 «High speed grasping using visual and force feedback». Int. Conf. Robotics and Automation (ICRA), tome 4, pp.17-32, 1981.

J. Nelder and R. Mead, A Simplex Method for Function Minimization, et D. S. Zinger. «The influence of motor parameter deviations in feedforward field orientation drive systems», pp.308-313, 1965.
DOI : 10.1093/comjnl/7.4.308

A. Okamura, C. Simone, M. M. Östring, S. Gunnarsson, and E. M. Norrlöf, Force Modeling for Needle Insertion Into Soft Tissue, IEEE Transactions on Biomedical Engineering, vol.51, issue.10, pp.1707-1716, 1993.
DOI : 10.1109/TBME.2004.831542
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.330.9330

]. A. Packard93b, J. Packard, G. Doyle, ]. A. Balaspackard93c, P. Packard et al., «Linear, multivariable robust control with a µ perspective» «Continuity properties of the real/complex structured singular value» «Visual tracking of a moving target by a camera mounted on a robot : a combination of control and vision» «Robust performance analysis with LMI-based methods for real parametric uncertainty via parameterdependent lyapunov functions», ASME J. Dynamic Systems, Measurement and Control IEEE Trans. Automatic Control IEEE Trans. Robot. Autom. IEEE Trans. Autom. Control, vol.115, issue.9 4, pp.310-319, 1993.

]. D. Peaucelle06, D. Peaucelle, and . Arzelier, «Robust multi-objective control toolbox», Computer Aided Control Systems Design», 2006.

]. C. Pittet06, D. Pittet, and . Arzelier, DEMETER: A BENCHMARK FOR ROBUST ANALYSIS AND CONTROL OF THE ATTITUDE OF FLEXIBLE MICRO SATELLITES, «IFAC Symposium on Robust Control Design (ROCOND)», 2006.
DOI : 10.3182/20060705-3-FR-2907.00113

J. Ryu, D. Kwon, and E. B. Hannaford, Control of a Flexible Manipulator With Noncollocated Feedback: Time-Domain Passivity Approach, IEEE Transactions on Robotics, vol.20, issue.4, pp.776-780, 2004.
DOI : 10.1109/TRO.2004.829454

]. M. Safonov80 and . Safonov, Stability and Robustness of Multivariable Feedback Systems, 1980.

]. V. Saligrama05 and . Saligrama, A convex analytic approach to system identification, IEEE Transactions on Automatic Control, vol.50, issue.10, pp.1550-1560, 2005.
DOI : 10.1109/TAC.2005.856654

]. L. Salvatore93, S. Salvatore, E. L. Stasi, and . Tarchioni, A new EKF-based algorithm for flux estimation in induction machines, IEEE Transactions on Industrial Electronics, vol.40, issue.5, pp.496-504, 1993.
DOI : 10.1109/41.238018

]. C. Scherer97, P. Scherer, E. M. Gahinet, and . Chilali, Multiobjective output-feedback control via LMI optimization, IEEE Transactions on Automatic Control, vol.42, issue.7, pp.896-911, 1997.
DOI : 10.1109/9.599969

]. C. Scherer01 and . Scherer, LPV control and full block multipliers, Automatica, vol.37, issue.3, pp.361-375, 2001.
DOI : 10.1016/S0005-1098(00)00176-X

]. M. Sermesant03, C. Sermesant, X. Forest, H. Pennec, E. N. Delingette et al., Deformable biomechanical models: Application to 4D cardiac image analysis, Medical Image Analysis, vol.7, issue.4, pp.475-488, 2003.
DOI : 10.1016/S1361-8415(03)00068-9

]. M. Sermesant05, Y. Sermesant, V. Coudière, K. Moreau-villéger, D. Rhode et al., A Fast-Marching Approach to Cardiac Electrophysiology Simulation for XMR Interventional Imaging, «Medical Image Computing and Computer-Assisted Intervention (MICCAI)», Palm Springs, 2005.
DOI : 10.1007/11566489_75

]. P. Shi01, J. Shi, E. G. Mcphee, and . Heppler, «A deformation field for Euler- Bernouilli beams with application to flexible multibody dynamics», Multibody System Dynamics, vol.5, issue.1, pp.79-104, 2001.
DOI : 10.1023/A:1026433909962

]. P. Bibliographie-[-shi02, J. Shi, . Mcpheestein87-]-g, M. Stein, ]. A. Athansthakral07 et al., «The LQG/LTR Procedure for Multivariable Feedback Control Design», Taghirad97] H. Taghirad. On the Modeling and Identification of Harmonic Drive Systems Thèse de doctorat Thakor. «Surgical motion adaptive robotic technology : taking the motion out of physiological motion». Dans «Medical Image Computing and Computer- Assisted Intervention (MICCAI), 1987.

]. S. Wade97, M. Wade, B. Dunnigan, . Williamswalter90-]-e, L. Walter et al., On the use of an accelerometer for identitcation of a flexible manipulator «A new method of rotor resistance estimation for vector-controlled induction machines» «Qualitative and quantitative experiment design for phenomenological models-a survey» Identification of Parametric Models from Experimental Data «Model reduction of LFT systems», MIMO state space models». Automatica, tome 30 Thèse de maîtreWalter94] E. Walter et L. Pronzato. Identification de Modèles Paramétriques à Partir de Données Expérimentales. Masson «IEEE Conf. Dec. Control»Wang07] K. Wang, J. Chiasson, M. Bodson, et L. Tolbert. «An online rotor time constant estimator for the induction machine». IEEE Trans. Contr. Syst. Technol., tome 15, pp.61-74, 1990.

]. E. Wernholt04, ]. T. Wernholtyoshikawa01, A. Yoshikawa, E. K. Ohta, and . Kanaoka, On Multivariable and Nonlinear Identification of Industrial Robot Thèse de doctorat «state estimation and parameter identification of flexible manipulators based on visual sensor and virtual joint model», Conf. on Robotics and Automation» Newlin, et J. Doyle. «Computing bounds for the mixed µ problem», pp.2840-2845, 1995.

]. P. Young97, J. Young, and . Doyle, A lower bound for the mixed ?? problem, IEEE Transactions on Automatic Control, vol.42, issue.1, pp.123-128, 1997.
DOI : 10.1109/9.553696

]. S. Yurkovitch90, A. Yurkovitch, I. Tzes, K. Lee, and . Hillsley, «Control and system indentification of a two-link flexible manipulator», Conf. on Robotics and Automation», pp.1626-1631, 1990.

]. C. Zai92, C. Zai, E. T. Marco, and . Lipo, «An extended Kalman filter approach to rotor time constant measurement in PWM induction motor drives»

]. P. Zanne04, G. Zanne, E. F. Morel, and . Plestan, Robust 3D vision based control and planning, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
DOI : 10.1109/ROBOT.2004.1302414

]. K. Zhou96, J. C. Zhou, E. K. Doyle, and . Glover, Robust and Optimal Control, 1996.