1. State Key Laboratory of Industrial Control Technology, Dept. of Control Science and Engineering; Zhejiang University; Hangzhou Zhejiang 310027 P.R. China
2. State Key Laboratory of Chemical Engineering, Dept. of Chemical and Biological Engineering; Zhejiang University; Hangzhou Zhejiang 310027 P.R. China
3. Dept. of Chemical Engineering; Carnegie Mellon University; Pittsburgh PA 15213