@techreport{RR-5385,
  author	= {Bourgeot, J.-M. and Brogliato, B.},
  title		= {Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems},
  year		= {2004},
  type		= {Rapport de Recherche},
  institution	= {Inria},
  number	= {5385},
  address	= {http_//www.inria.fr/rrrt/rr-5385.html},
  month		= nov,
  urlpage	= {http://www.inria.fr/rrrt/rr-5385.html},
  homepage	= {http://www.inrialpes.fr/bipop/people/bourgeot/},
}