1. Department of Chemical Engineering, Monash University, P.O. Box 36, Clayton 3800, Victoria, Australia, DelftChemTech, Delft University of Technology, Julianalaan 136, 2628 BL Delft, The Netherlands, and Howard P. Isermann Department of Chemical and Biological Engineering, Rensselaer Polytechnic Institute, Troy, New York 12180, U.S.A.