Dynamic Systems & Control Group, DoMME, University of Melbourne, Melbourne, Australia. lij@mame.mu.oz.au <lij@mame.mu.oz.au>|Dynamic Systems & Control Group, DoMME, University of Melbourne, Melbourne, Australia. lij@mame.mu.oz.au <lij@mame.mu.oz.au>|Dynamic Systems & Control Group, DoMME, University of Melbourne, Melbourne, Australia. lij@mame.mu.oz.au <lij@mame.mu.oz.au>|Dynamic Systems & Control Group, DoMME, University of Melbourne, Melbourne, Australia. lij@mame.mu.oz.au <lij@mame.mu.oz.au>