中文摘要：

DING Feng Received his B. Sc. degree from Hubei University of Technology in 1984, and his M. Sc. and Ph.D. degrees in automatic control both from the Department of Automation, Tsinghua University in 1991 and 1994, respectively. From 1984 to 1988, he was an electrical engineer at Hubei Pharmaceutical Factory. From 1994 to 2002, he was with the Department of Automation, Tsinghua University and was a post-doctoral fellow and research associate at University of Alberta, Canada from 2002 to 2005. He was a visiting professor in the Department of Systems and Computer Engineering, Carleton University, Canada from May to December 2008 and a research associate in the Department of Aerospace Engineering, Ryerson University, Canada, from Jan- uary to October 2009. He has been a professor at the School of Communication and Control Engineering, Jiangnan University since 2004. His research interest covers model identification and adaptive control. Corresponding author of this paper. e-mail： fding@jiangnan.edu.cn LIU Xiao-Ping Received his B. Sc. and M. Sc. degrees from Northern Jiaotong University, China in 1992 and 1995, re- spectively, and his Ph. D. degree from the University of Alberta, Canada in 2002. He has been with the Department of Sys- tems and Computer Engineering, Carleton University, Canada since July 2002 and he is currently a research chair professor. His research interest covers interactive networked systems and teleoperation, haptics,robotics, intelligent systems, context-aware intelligent networks, and their applications to biomedical engineering. E-mall： xpliu@sce.carleton.ca