1. Department of Automation and Systems Universidade Federal de Santa Catarina (UFSC) Florianópolis Brazil
2. Department of Mathematical and Computational Methods Laboratório Nacional de Computação Científica (LNCC/MCTI) Petrópolis Brazil
3. Department of Control Engineering and System Analysis Université Libre de Bruxelles Brussels Belgium
4. Graduate Program on Engineering of Automation and Systems (PPGEAS) Universidade Federal de Santa Catarina (UFSC) Florianópolis Brazil