1. Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany
2. Center for Mathematics and Applications (CMA), NOVA School of Science and Technology, Caparica, Portugal
3. NOVA Laboratory for Computer Science and Informatics (NOVA LINCS), NOVA School of Science and Technology, Caparica, Portugal
4. INESC-ID, Instituto Superior Técnico, Universidade de Lisboa, Portugal
5. IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Portugal