1. Control and Dynamical Systems, California Institute of Technology 1 , Pasadena, California 91125, USA
2. Applied and Computational Mathematics and Control and Dynamical Systems, California Institute of Technology 2 , Pasadena, California 91125, USA
3. School of Mathematics, Georgia Institute of Technology 3 , Atlanta, Georgia 30332, USA
4. Department of Applied Mechanics and Aerospace Engineering, Waseda University 4 , Tokyo 169-8555, Japan