@article{romero:hal-01261530, TITLE = {{A globally exponentially stable tracking controller for mechanical systems using position feedback}}, AUTHOR = {Romero, Jose Guadalupe and Ortega, Rom{\'e}o and Sarras, Ioannis}, URL = {https://centralesupelec.hal.science/hal-01261530}, JOURNAL = {{IEEE Transactions on Automatic Control}}, PUBLISHER = {{Institute of Electrical and Electronics Engineers}}, VOLUME = {60}, NUMBER = {3}, PAGES = {818-823}, YEAR = {2015}, DOI = {10.1109/tac.2014.2330701}, HAL_ID = {hal-01261530}, HAL_VERSION = {v1}, }