1. Robust Control and Nonlinear Dynamics Laboratory, Department of Electrical Engineering, Yeungnam University, 214-1 Dae-Dong, Kyongsan 712-749, Korea
2. Department of Electronic and Electrical Engineering, Pohang University of Science and Technology, San 31 Hyoja-Dong Pohang 790-784, Korea
3. School of Electronics Engineering, Daegu University, Gyeongsan, Korea