1. a Delft Center for Systems and Control , Mekelweg 2, 2628 CD, Delft, and University of Groningen, Faculty of Economics , Landleven 5, 9747 AD, Groningen, The Netherlands
2. b University of Twente , Department of Applied Mathematics, Faculty of EEMCS , P.O. Box 217, 7500 AE Enschede, The Netherlands
3. c University of Groningen , Department of Mathematics and Computing Science , P.O. Box 800, 9700 AV Groningen, The Netherlands