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