abstract. in recent years several studies have shown that  control charts with adaptive schemes or double sampling plans detect both small and moderate shifts in the process mean more quickly than the traditional shewhart  chart. in the classical double sampling  chart, the difference between two points were placed in the central region of first stage was not considered. in this study, a new co...

Dean of the Graduate College ii PREFACE The methodology of variable structure with sliding mode is proven to be very successful in controlling uncertain continuous-time dynamical systems. When the system is sampled or purely discrete, the invariance property of sliding mode, which is originally a continuous-time concept, no longer hold and the reaching condition has to be modiied to allow a pse...

One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not t...