Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de|Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. Jan.Hasenauer@ist.uni-stuttgart.de