Department of Biosystems Science and Engineering, ETH Zurich, Basel, Switzerland.|Institute of Molecular Systems Biology, ETH Zurich, Zurich, Switzerland.|Institute of Molecular Systems Biology, ETH Zurich, Zurich, Switzerland.|Institute of Molecular Systems Biology, ETH Zurich, Zurich, Switzerland.|Institute of Molecular Systems Biology, ETH Zurich, Zurich, Switzerland.|Automatic Control Laboratory, ETH Zurich, Zurich, Switzerland.