Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart 70550, Germany. patrick.weber@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart 70550, Germany. patrick.weber@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart 70550, Germany. patrick.weber@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart 70550, Germany. patrick.weber@ist.uni-stuttgart.de