B. A. Francis and W. M. Wonham, The internal model principle for linear multivariable regulators, Applied Mathematics & Optimization, vol.2, issue.2, pp.170-194, 1975.
DOI : 10.1007/BF01447855

C. Batlle, A. Doria-cerezo, and E. Fossas, Robust Hamiltonian passive control for higher relative degree outputs, 2006.

K. Fujimoto, K. Sakurama, and T. Sugie, Trajectory tracking control of portcontrolled Hamiltonian systems via generalized canonical transformations, Automatica, issue.12, p.39, 2003.

A. Van and . Schaft, Port-Hamiltonian systems: an introductory survey, Proceedings of the International Congress of Mathematicians, 2006.

C. Lanczos, The Variational Principles of Mechanics, 1986.

N. Kazantzis and C. Kravaris, Nonlinear observer design using Lyapunov???s auxiliary theorem, Systems & Control Letters, vol.34, issue.5, pp.241-247, 1998.
DOI : 10.1016/S0167-6911(98)00017-6

S. Nicosia and P. Tomei, Robot control by using only joint position measurements, IEEE Transactions on Automatic Control, vol.35, issue.9, pp.1058-1061, 1990.
DOI : 10.1109/9.58537

N. S. Bedrossian, Linearizing coordinate transformation and Riemannian curvature, Proc. IEEE Conf. Dec. & Contr, pp.80-85, 1992.

G. Besançon, Global output feedback tracking control for a class of Lagrangian systems, Automatica, vol.36, issue.12, pp.1915-1921, 2000.
DOI : 10.1016/S0005-1098(00)00111-4

M. W. Spong, Remarks on robot dynamics: canonical transformations and Riemannian geometry] A. Venkatraman and A. J. van der Schaft. Full order observer design for a class of port?Hamiltonian systems, Proc. IEEE Int. Conf. Robot. & Autom. Eighteenth International symposium on Mathematical Theory of Networks and Systems, pp.554-559, 1992.

N. Aghannan and P. Rouchon, An intrinsic observer for a class of lagrangian systems, IEEE Transactions on Automatic Control, vol.48, issue.6, pp.936-945, 2003.
DOI : 10.1109/TAC.2003.812778

D. A. Anisi and J. Hamberg, RIEMANNIAN OBSERVERS FOR EULER-LAGRANGE SYSTEMS, 16th IFAC World Congress, 2005.
DOI : 10.3182/20050703-6-CZ-1902.00673

S. Bonnabel, P. Martin, and P. Rouchon, Symmetry-Preserving Observers, IEEE Transactions on Automatic Control, vol.53, issue.11, pp.2514-2526, 2008.
DOI : 10.1109/TAC.2008.2006929
URL : https://hal.archives-ouvertes.fr/hal-00449206

D. Carnevale, D. Karagiannis, and A. Astolfi, Invariant manifold based reducedorder observer design for nonlinear systems, IEEE Trans. Automat. Contr, vol.53, issue.11, pp.2602-2614, 2008.

G. Besançon, Nonlinear Observers and Applications, Lecture Notes in Control and Information Science, vol.363, 2007.

V. Andrieu and L. Praly, On the Existence of a Kazantzis--Kravaris/Luenberger Observer, SIAM Journal on Control and Optimization, vol.45, issue.2, pp.18146-1850
DOI : 10.1137/040617066
URL : https://hal.archives-ouvertes.fr/hal-00529943

V. Andrieu, L. Praly, and A. Astolfi, Homogeneous Approximation, Recursive Observer Design, and Output Feedback, SIAM Journal on Control and Optimization, vol.47, issue.4, pp.1814-1850
DOI : 10.1137/060675861
URL : https://hal.archives-ouvertes.fr/hal-00362707

D. Karagiannis and A. Astolfi, Observer design for a class of nonlinear systems using dynamic scaling with application to adaptive control, 2008 47th IEEE Conference on Decision and Control, 2008.
DOI : 10.1109/CDC.2008.4739140

A. Astolfi, R. Ortega, and A. Venkatraman, A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints, Automatica, vol.46, issue.1, pp.182-189, 2010.
DOI : 10.1016/j.automatica.2009.10.027

H. Berghuis and H. Nijmeijer, A passivity approach to controller-observer design for robots, IEEE Transactions on Robotics and Automation, vol.9, issue.6, pp.740-754, 1993.
DOI : 10.1109/70.265918

S. Nicosia and P. Tomei, Robot control by using only joint position measurements, IEEE Transactions on Automatic Control, vol.35, issue.9, pp.1058-1061, 1990.
DOI : 10.1109/9.58537

A. Donaire and S. Junco, On the addition of integral action to port-controlled Hamiltonian systems, Automatica, vol.45, issue.8, pp.45-1910, 2009.
DOI : 10.1016/j.automatica.2009.04.006

R. Ortega and E. Garcia-canseco, Interconnection and Damping Assignment Passivity-Based Control: A Survey, European Journal of Control, vol.10, issue.5, pp.432-450, 2004.
DOI : 10.3166/ejc.10.432-450

D. Angeli, E. D. Sontag, and Y. Wang, A characterization of integral input-tostate stability, IEEE Transactions on Automatic Control, vol.45, pp.1910-1916, 2000.

E. Sontag, Input?to?state stability: Basic concepts and results, Nonlinear and Optimal Control Theory, pp.163-220, 2007.

A. Venkatraman, R. Ortega, and I. , Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems, IEEE Transactions on Automatic Control, vol.55, issue.5, pp.1059-1074, 2010.
DOI : 10.1109/TAC.2010.2042010

D. A. Dirksz and J. M. Scherpen, Port-Hamiltonian and power-based integral type control of a manipulator system, 18th IFAC World Congress Milano, pp.13450-13455
DOI : 10.3182/20110828-6-IT-1002.01030

A. Astolfi, D. Karagiannis, and R. Ortega, Nonlinear and adaptive control design with applications, 2007.

A. Loria, Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems without Velocity Measurements, European Journal of Control, vol.2, issue.2, pp.144-151, 1996.
DOI : 10.1016/S0947-3580(96)70038-9

F. Zhang, D. M. Dawson, M. S. De-queiroz, and W. E. Dixon, Global adaptive output feedback tracking control of robot manipulators, IEEE Transactions on Automatic Control, vol.45, issue.6, pp.1203-1208, 2000.
DOI : 10.1109/9.863607

G. Viola, R. Ortega, R. Banavar, J. A. Acosta-adn, and A. Astolfi, Total energy shaping control of mechanical systems: Simplifying the matching equations via coordinate changes, IEEE Transacions on Automatic Control, vol.52, issue.6, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00268731