Submitted on: 22 June 2011.
Revised on: 30 September 2011.
Accepted on: 25 October 2011.
___________________IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Submitted on: 24 March 2000.
Revised on: 24 June 2000.
Accepted on: 15 July 2000.
___________________IEEE TRANSACTIONS ON AUTOMATIC CONTROL
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