1. Control Engineering Laboratory, Chalmers, S-412 96 Göteborg, Sweden
2. Department of Sanitary Engineering, Chalmers, S-412 96 Göteborg, Sweden
3. Department of Sanitary Engineering, Technical University of Luleå, S-971 87 Luleå, Sweden
4. Department of Chemical Reaction Engineering, Chalmers, S-412 96 Göteborg, Sweden