Control & Dynamical Systems, California Institute of Technology, Pasadena, California, United States of America.|Control & Dynamical Systems, California Institute of Technology, Pasadena, California, United States of America.|Control & Dynamical Systems, California Institute of Technology, Pasadena, California, United States of America.|Control & Dynamical Systems, California Institute of Technology, Pasadena, California, United States of America.|Control & Dynamical Systems, California Institute of Technology, Pasadena, California, United States of America.