1. Automatic Control Laboratory, Physikstrasse 3, and Institute of Process Engineering, Sonneggstrasse 3, ETH-Zürich, 8092 Zürich, Switzerland, Institute for Chemical and Bio-Engineering, ETH-Zürich, 8093 Zürich, Switzerland, and Integrated Sensing System Identification and Control Laboratory, Georgia Institute of Technology, 778 Atlantic Drive, Atlanta, Georgia 30332-0100