Automatic Control Laboratory, ETH, 8092 Zurich, Switzerland. cinquemani@control.ee.ethz.ch|Automatic Control Laboratory, ETH, 8092 Zurich, Switzerland. cinquemani@control.ee.ethz.ch|Automatic Control Laboratory, ETH, 8092 Zurich, Switzerland. cinquemani@control.ee.ethz.ch|Automatic Control Laboratory, ETH, 8092 Zurich, Switzerland. cinquemani@control.ee.ethz.ch