The research work described in this dissertation was done by the author from September2002 till July 2005 at the Department of Computing and Control Engineering, Instituteof Chemical Technology, Prague. The author do hereby declare that the contents of thethesis except where indicated are entirely original and are a result of the research workhe has carried out.Victor Musoko
I would like to take this opportunity to thank all those who have contributed to this thesis.First and foremost my big thanks go to my supervisor Prof. Aleˇs Proch´azka, who gave methe opportunity to pursue the research. I appreciated his guidance, encouragement and thehelpful discussions. The work presented here would certainly not have been accomplishedwithout his inﬂuence and support. From my supervisor, I have learned a great deal aboutproblem solving and presentation of the results of my research work.Last but not least, I would also like to express my deep thanks to Ing. Aleˇs Pavelka,for his tireless help at the time it was needed most and Assoc. Prof. Jarom´ır Kukal, forintroducing me to the world of programming in C/C
and for his important discussions.Thanks in general to all my colleagues in the Department of Computing and ControlEngineering.