  Impurity moments coupled to fermions with a pseudogap density of states
display a quantum phase transition between a screened and a free moment phase
upon variation of the Kondo coupling. We describe the universal theory of this
transition for the experimentally relevant case of particle-hole asymmetry. The
theory takes the form of a crossing between effective singlet and doublet
levels, interacting with low-energy fermions. Depending on the pseudogap
exponent, this interaction is either relevant or irrelevant under
renormalization group transformations, establishing the existence of an
upper-critical "dimension" in this impurity problem. Using perturbative
renormalization group techniques we compute various critical properties and
compare with numerical results.
