B. D. Anderson, R. R. Bitmead, C. R. Johnson, . Jr, P. V. Kokotovic et al., Stability of adaptive systems: Passivity and averaging analysis, 1986.

A. Astolfi, D. Karagiannis, and R. Ortega, Nonlinear and adaptive control with applications, 2007.
DOI : 10.1007/978-1-84800-066-7

D. Astolfi and L. Marconi, A High-Gain Nonlinear Observer With Limited Gain Power, IEEE Transactions on Automatic Control, vol.60, issue.11, pp.60-3059, 2015.
DOI : 10.1109/TAC.2015.2408554
URL : http://arxiv.org/pdf/1501.04330

N. Barabanov and R. Ortega, On global asymptotic stability of ? x = ?(t)? (t)x with ?(t) bounded and not persistently exciting, LSS Int. Report, 2017.

N. Bedrossian and M. W. Spong, Feedback linearization of robot manipulators and riemannian curvature, Journal of Robotic Systems, vol.4, issue.5, pp.541-552, 1995.
DOI : 10.1007/978-1-4757-1693-1

D. E. Chang and R. G. Mclenaghan, Geometric Criteria for the Quasi-Linearization of the Equations of Motion of Mechanical Systems, IEEE Transactions on Automatic Control, vol.58, issue.4, pp.1046-1050, 2013.
DOI : 10.1109/TAC.2012.2218671

D. E. Chang, S. Song, and J. K. Kim, A Sufficient Condition for the Feedback Quasilinearization of Control Mechanical Systems, Journal of Electrical Engineering and Technology, vol.11, issue.3, pp.741-745, 2016.
DOI : 10.5370/JEET.2016.11.3.741

E. Cruz-zavala, J. A. Moreno, and L. Fridman, Uniform Second-Order Sliding Mode Observer for mechanical systems, 2010 11th International Workshop on Variable Structure Systems (VSS), pp.14-19, 2010.
DOI : 10.1109/VSS.2010.5544656

J. Davila, L. Fridman, and A. Levant, Second-order sliding-mode observer for mechanical systems, IEEE Transactions on Automatic Control, vol.50, issue.11, pp.50-1785, 2005.
DOI : 10.1109/TAC.2005.858636

F. Esfandiari and H. K. Khalil, Output feedback stabilization of fully linearizable systems, International Journal of Control, vol.4, issue.5, pp.1007-1037, 1992.
DOI : 10.1109/TAC.1987.1104550

P. A. Ioannou and J. Sun, Robust adaptive control. Courier Corporation, 2012.
URL : https://hal.archives-ouvertes.fr/hal-01394197

H. K. Khalil, Nonlinear systems, 2002.

H. K. Khalil and L. Praly, High-gain observers in nonlinear feedback control, International Journal of Robust and Nonlinear Control, vol.58, issue.9, pp.993-1015, 2014.
DOI : 10.1137/1.9780898718683
URL : https://hal.archives-ouvertes.fr/hal-01248861

A. J. Krener and W. Respondek, Nonlinear Observers with Linearizable Error Dynamics, SIAM Journal on Control and Optimization, vol.23, issue.2, pp.197-216, 1985.
DOI : 10.1137/0323016

J. Lee, R. Mukherjee, and H. K. Khalil, Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties, Automatica, vol.54, pp.146-157, 2015.
DOI : 10.1016/j.automatica.2015.01.013

L. Ljung, System identification: theory for the user, 1999.

A. Loria, Explicit convergence rates for MRAC-type systems*1, Automatica, vol.40, issue.8, pp.1465-1468, 2004.
DOI : 10.1016/S0005-1098(04)00122-0

M. Maghenem and A. Loria, Lyapunov Functions for Persistently-Excited Cascaded Time-Varying Systems: Application to Consensus, IEEE Transactions on Automatic Control, vol.62, issue.7, 2016.
DOI : 10.1109/TAC.2016.2610099

M. Malisoff and F. Mazenc, Constructions of strict lyapunov functions, 2009.
DOI : 10.1007/978-1-84882-535-2
URL : https://hal.archives-ouvertes.fr/hal-00858552

R. Marino and P. Tomei, Nonlinear control design: geometric, adaptive and robust, 1996.

A. P. Morgan and K. S. Narendra, On the Uniform Asymptotic Stability of Certain Linear Nonautonomous Differential Equations, SIAM Journal on Control and Optimization, vol.15, issue.1, pp.5-24, 1977.
DOI : 10.1137/0315002

E. Panteley and A. Loria, On global uniform asymptotic stability of nonlinear time-varying systems in cascade, Systems & Control Letters, vol.33, issue.2, pp.131-138, 1998.
DOI : 10.1016/S0167-6911(97)00119-9

J. G. Romero and R. Ortega, Two globally convergent adaptive speed observers for mechanical systems, Automatica, vol.60, pp.7-11, 2015.
DOI : 10.1016/j.automatica.2015.06.032
URL : https://hal.archives-ouvertes.fr/hal-01261648

M. Spivak, A comprehensive introduction to differential geometry, 1999.

A. R. Teel, Further variants of the Astolfi/Marconi high-gain observer, 2016 American Control Conference (ACC), pp.993-998, 2016.
DOI : 10.1109/ACC.2016.7525044

C. Vázquez, S. Aranovskiy, L. Freidovich, and L. Fridman, Time-Varying Gain Differentiator: A Mobile Hydraulic System Case Study, IEEE Transactions on Control Systems Technology, vol.24, issue.5, pp.1740-1750, 2016.
DOI : 10.1109/TCST.2015.2512880

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

?. Zi?ek and S. , The sublime object of ideology, 1989.