V. Acary and F. Pérignon, An introduction to SICONOS INRIA, Rhône-Alpes Available online: http://hal.inria.fr/inria-00162911, 2007.

P. Ballard, The Dynamics of Discrete Mechanical Systems with Perfect Unilateral Constraints, Archive for Rational Mechanics and Analysis, vol.154, issue.3, pp.199-274, 2000.
DOI : 10.1007/s002050000105

URL : https://hal.archives-ouvertes.fr/hal-00111308

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

URL : http://doc.utwente.nl/15045/1/passivity_approach_-_berghuis.pdf

G. Besancon, Global output feedback tracking control for a class of Lagrangian systems, Automatica, vol.38, pp.1915-1921, 2002.

B. Brogliato, Nonsmooth Mechanics, 1999.
DOI : 10.1007/978-1-4471-0557-2

URL : https://hal.archives-ouvertes.fr/hal-01236953

B. Brogliato and W. P. Heemels, Observer Design for Lur'e Systems With Multivalued Mappings: A Passivity Approach, IEEE Transactions on Automatic Control, vol.54, issue.8, pp.1996-2001, 2009.
DOI : 10.1109/TAC.2009.2023968

URL : https://hal.archives-ouvertes.fr/hal-00756302

C. Castaing and M. D. Marques, BV periodic solutions of an evolution problem associated with continuous moving convex sets. Set-Valued Analysis, pp.381-399, 1995.

R. Dzonou, M. D. Monteiro-marques, and L. Paoli, A convergence result for a vibro-impact problem with??a??general inertia operator, Nonlinear Dynamics, vol.2, issue.2, pp.361-384, 2009.
DOI : 10.1007/978-3-0348-7614-8

URL : https://hal.archives-ouvertes.fr/hal-01552482

F. Forni, A. Teel, and L. Zaccarian, Follow the Bouncing Ball: Global Results on Tracking and State Estimation With Impacts, IEEE Transactions on Automatic Control, vol.58, issue.6, pp.1470-1485, 2013.
DOI : 10.1109/TAC.2013.2237952

W. P. Heemels, M. K. Camlibel, J. M. Schumacher, and B. Brogliato, Observer-based control of linear complementarity systems, International Journal of Robust and Nonlinear Control, vol.50, issue.5, pp.1193-1218, 2011.
DOI : 10.1016/0024-3795(83)90062-9

URL : https://hal.archives-ouvertes.fr/hal-00834580

M. Kunze and M. D. Marques, An Introduction to Moreau???s Sweeping Process, Mechanical Systems: Analysis and Modelling, pp.1-60, 2000.
DOI : 10.1007/3-540-45501-9_1

L. Menini and A. Tornambé, Velocity observers for non-linear mechanical systems subject to non-smooth impacts, Automatica, vol.38, issue.12, pp.2169-2175, 2002.
DOI : 10.1016/S0005-1098(02)00164-4

M. D. Marques, Differential Inclusions in Nonsmooth Mechanical Problems: Shocks and Dry Friction, of Progress in Nonlinear Differential Equations and their Applications. Birkhäuser, 1993.
DOI : 10.1007/978-3-0348-7614-8

J. J. Moreau, Unilateral Contact and Dry Friction in Finite Freedom Dynamics, Nonsmooth Mechanics and Applications of CISM Courses and Lectures, International Centre for Mechanical Sciences, pp.1-82, 1988.
DOI : 10.1007/978-3-7091-2624-0_1

J. J. Moreau and M. Valadier, A chain rule involving vector functions of bounded variation, Journal of Functional Analysis, vol.74, issue.2, pp.333-345, 1987.
DOI : 10.1016/0022-1236(87)90029-2

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

J. A. Osorio and J. A. Moreno, Dissipative Design of Observers for Multivalued Nonlinear Systems, Proceedings of the 45th IEEE Conference on Decision and Control, pp.5400-5405, 2006.
DOI : 10.1109/CDC.2006.377335

L. Paoli, A proximal-like method for a class of second order measure-differential inclusions describing vibro-impact problems, Journal of Differential Equations, vol.250, issue.1, pp.476-514, 2011.
DOI : 10.1016/j.jde.2010.10.010

URL : https://hal.archives-ouvertes.fr/hal-01566931

L. Paoli and M. Schatzman, A Numerical Scheme for Impact Problems I: The One-Dimensional Case, SIAM Journal on Numerical Analysis, vol.40, issue.2, pp.702-733, 2002.
DOI : 10.1137/S0036142900378728

H. Shim, Y. Son, and J. Seo, Semi-global observer for multi-output nonlinear systems, Systems & Control Letters, vol.42, issue.3, pp.233-244, 2001.
DOI : 10.1016/S0167-6911(00)00098-0

H. Shim and A. Tanwani, Hybrid-type observer design based on a sufficient condition for observability in switched nonlinear systems Nonlinear Control: Special Issue on High Gain Observers and Nonlinear Output Feedback Control Invertibility and Observability of Switched Systems with Inputs and Outputs, Int. J. Robust &, 2012.

A. Tanwani, B. Brogliato, and C. Prieur, Stability and observer design for a class of nonsmooth dynamical systems with nonconvex state constraints
URL : https://hal.archives-ouvertes.fr/hal-00790618

A. Tanwani, H. Shim, and D. Liberzon, Observability for Switched Linear Systems: Characterization and Observer Design, IEEE Transactions on Automatic Control, vol.58, issue.4, pp.891-904, 2013.
DOI : 10.1109/TAC.2012.2224257

A. Tanwani and S. Trenn, Observability of switched differentialalgebraic equations for general switching signals, Proc. 51st IEEE Conf. Decision & Control, pp.2648-2653, 2012.

A. Tanwani and S. Trenn, An observer for switched differentialalgebraic equations based on geometric characterization of observability, Proc. 52nd IEEE Conf. Decision & Control, 2013.

B. Xian, M. S. De-queiroz, D. M. Dawson, and M. L. Mcintyre, A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems, Automatica, vol.40, issue.4, pp.695-700, 2004.
DOI : 10.1016/j.automatica.2003.12.007