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Submitted on: 06 March 2000.
Revised on: 02 June 2000.
Accepted on: 26 June 2000.
___________________Control Theory and Technology---SPRINGER MEDIZIN VERLAG GMBH
Submitted on: 09 December 2004.
Revised on: 06 April 2005.
Accepted on: 24 May 2005.
___________________Control Theory and Technology---SPRINGER MEDIZIN VERLAG GMBH