... Manufacturing (CIM) between 196 0 and 198 0 (Trybula & Goodman, 198 9), e.g., numerically controlled machines, followed in the 198 0 to 199 0 developments in robotics, e.g., advanced robotics (Shell & ... applications of qualitative modelling techniques (Adiga & Gadre, 199 0; Lamperti & Zanella, 2003; Mak et. al., 199 9; Zhang et. al., 199 0) shows that there is still further need of work to be carried ... C (2005). Switched and Impulsive Systems. Analysis, Design and Applications, Springer Verlag, 3-540-2 395 2 -9, Berlin Lin, Z., Pachter, M, Banda, S. & Shamash,Y. ( 199 7). Stabilizing feedback...