1. 1Presenter/Corresponding Author. Dynamics and Control, Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands. Electronic mail: R.v.d.Steen@alumnus.tue.nl
2. 2Dynamics and Control, Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands. Electronic mail: I.Lopez@tue.nl
3. 3Dynamics and Control, Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands. Electronic mail: H.Nijmeijer@tue.nl