V. Acary and F. Pérignon, An Introduction to SICONOS INRIA, Rhône-Alpes, Tech. Rep. RR-0340 Available: http:// hal.inria.fr/inria-00162911, 2007.

V. Acary and B. Brogliato, Numerical Methods for Nonsmooth Dynamical Systems, ser. Lecture Notes in Applied and Computational Mechanics, 2008.

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

P. Ballard, Formulation and well-posedness of the dynamics of rigid-body systems with perfect unilateral constraints, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol.359, issue.1789, pp.2327-2346, 2001.
DOI : 10.1098/rsta.2001.0854

J. J. Benjamin-biemond, N. Van-de-wouw, W. P. Heemels, and H. Nijmeijer, Tracking Control for Hybrid Systems With State-Triggered Jumps, IEEE Transactions on Automatic Control, vol.58, issue.4, pp.876-890, 2013.
DOI : 10.1109/TAC.2012.2223351

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, Absolute stability and the Lagrange???Dirichlet theorem with monotone multivalued mappings, Systems & Control Letters, vol.51, issue.5, pp.343-353, 2004.
DOI : 10.1016/j.sysconle.2003.09.007
URL : https://hal.archives-ouvertes.fr/inria-00071792

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
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, vol.109, issue.2, pp.381-399, 1995.
DOI : 10.1007/BF01026248

R. W. Cottle, J. Pang, and R. E. Stone, The Linear Complementarity Problem, 2009.

R. Dzonou and M. D. Marques, A sweeping process approach to inelastic contact problems with general inertia operators, European Journal of Mechanics - A/Solids, vol.26, issue.3, pp.474-490, 2007.
DOI : 10.1016/j.euromechsol.2006.07.002

R. Dzonou, M. D. 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

G. S. Jones, Fundamental Inequalities for Discrete and Discontinuous Functional Equations, Journal of the Society for Industrial and Applied Mathematics, vol.12, issue.1, pp.43-57, 1964.
DOI : 10.1137/0112004

M. Kunze and M. D. Marques, An introduction to Moreau's sweeping process, " in Impacts in Mechanical Systems: Analysis and Modelling B. Brogliato, Lecture Notes in Physics, vol.551, pp.1-60, 2000.

M. Mabrouk, A unified variational model for the dynamics of perfect unilateral constraints, European Journal of Mechanics - A/Solids, vol.17, issue.5, pp.819-842, 1998.
DOI : 10.1016/S0997-7538(98)80007-7

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

C. I. Morarescu and B. Brogliato, Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems, IEEE Transactions on Automatic Control, vol.55, issue.6, pp.1300-1313, 2010.
DOI : 10.1109/TAC.2010.2042231
URL : https://hal.archives-ouvertes.fr/hal-00756307

J. J. Moreau, Liaisons unilatérales sans frottement et chocs inélastiques, C. R. Acad. Paris Sér. II Méc. Phys. Chim. Sci. Univers Sci. Terre, vol.296, issue.19, pp.1473-1476, 1983.

J. J. Moreau, Unilateral Contact and Dry Friction in Finite Freedom Dynamics, 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

R. Ortega and M. W. Spong, Adaptive motion control of rigid robots: A tutorial, Automatica, vol.25, issue.6, pp.877-888, 1989.
DOI : 10.1016/0005-1098(89)90054-X

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, CONTINUOUS DEPENDENCE ON DATA FOR VIBRO-IMPACT PROBLEMS, Mathematical Models and Methods in Applied Sciences, vol.359, issue.01, pp.53-93, 2005.
DOI : 10.1098/rsta.2001.0859

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.702-768, 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, International Journal of Robust and Nonlinear Control, vol.42, issue.11, pp.1064-1089, 2014.
DOI : 10.1080/00207721.2010.543494

A. Tanwani, B. Brogliato, and C. Prieur, Observer Design for Frictionless and Unilaterally Constrained Mechanical Systems: A Passivity-Based Approach Full report Available: https://hal.inria.fr/hal-01113344v2, Simulation gallery
DOI : 10.1109/tac.2015.2492098

A. Tanwani, B. Brogliato, and C. Prieur, Stability and Observer Design for Lur'e Systems with Multivalued, Nonmonotone, Time-Varying Nonlinearities and State Jumps, SIAM Journal on Control and Optimization, vol.52, issue.6, pp.3639-3672, 2014.
DOI : 10.1137/120902252
URL : https://hal.archives-ouvertes.fr/hal-01083629

A. Tanwani, B. Brogliato, and C. Prieur, Stability notions for a class of nonlinear systems with measure controls, Mathematics of Control, Signals, and Systems, vol.4, issue.4, pp.245-275, 2015.
DOI : 10.1016/S1468-1218(02)00084-6
URL : https://hal.archives-ouvertes.fr/hal-01074144

A. Tanwani, H. Shim, and D. Liberzon, Observability implies observer design for switched linear systems, Proceedings of the 14th international conference on Hybrid systems: computation and control, HSCC '11, pp.3-12, 2011.
DOI : 10.1145/1967701.1967705

A. Tanwani, H. Shim, and D. Liberzon, Observability for Switched Linear Systems: Characterization and Observer Design, Proc. 51st IEEE Conf. Decision Control, pp.891-904, 2012.
DOI : 10.1109/TAC.2012.2224257

A. Tanwani and S. Trenn, An observer for switched differentialalgebraic equations based on geometric characterization of observability, Proc. 52nd IEEE Conf. Decision Control, pp.5981-5986, 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