1. Institute of Information Theory and Automation, Academy of Sciences, Pod vodárenskou vězí 4, CZ-182 08 Praha 8, Czech Republic and Czech Technical University, Faculty of Electrical Engineering, Technickà 2, 166 27 Praha 6, Czech Republic
2. Institut für Analysis, Dynamik und Modellierung, Universität Stuttgart, Pfaffenwaldring 57, D-70569 Stuttgart, Germany; Present address: WIAS, Mohrenstraße 39, 0-10117 Berlin, Germany
3. Mathematical Institute, Charles University, Sokolovská 83, CZ-186 75 Praha 8, Czech Republic and Institute of Information Theory and Automation, Academy of Sciences, Pod vodárenskou vězí 4, CZ-182 08 Praha 8, Czech Republic