A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints. Astolfi, A., Ortega, R., & Venkatraman, A. Automatica, 46:182–189, 2010.
bibtex   
@Article{SCC.Astolfi.Ortega.ea2010,
  author    = {Astolfi, A. and Ortega, R. and Venkatraman, A.},
  title     = {A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints},
  journal   = {Automatica},
  year      = {2010},
  volume    = {46},
  pages     = {182--189},
  owner     = {Huyen T. Dinh},
  timestamp = {2012.08.30},
}

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