This thesis has been completed in partial fulﬁllment of therequirements of the Dutch Institute of Systems and Control(DISC) for graduate study.
The research described in this thesis was undertaken at thedepartments of Electrical Engineering and Applied Mathe-matics, University of Twente, Enschede, with ﬁnancial sup-port from the ‘Duits-Nederlands Mechatronica Innovatie Cen-trum’.
No part of this work may be reproduced by print, photocopyor any other means without the permission in writing fromthe author.Printed by W¨ohrmann Print Service, The Netherlands.ISBN: 90-365-2133-5c
2005 by M.H.A. Verwoerd