Background: Opioids added to local anesthetics for peripheral nerve blocks may intensify analgesia and prolong analgesic and sensorial block duration.These agents may also cause potentiation and prolongation of motor block.Objective: This study compared the postoperative effects of 30 mL of 0.25% bupivacaine +50 mcg fentanyl and 30 mL of 0.25% bupi

This paper investigates a framework for the application of robust and smooth second order sliding mode control to a class of underactuated mechanical systems for the realization of high performance control applications.First, using pr30 input and state transformations, the dynamics of the class are transformed into a normal form which consists of a