Dynamic Systems and Control Research Group, DoMME, The University of Melbourne, Victoria 3010, Australia. a.baten@pgrad.unimelb.edu.au|Dynamic Systems and Control Research Group, DoMME, The University of Melbourne, Victoria 3010, Australia. a.baten@pgrad.unimelb.edu.au|Dynamic Systems and Control Research Group, DoMME, The University of Melbourne, Victoria 3010, Australia. a.baten@pgrad.unimelb.edu.au|Dynamic Systems and Control Research Group, DoMME, The University of Melbourne, Victoria 3010, Australia. a.baten@pgrad.unimelb.edu.au