1. Ford Motor Company, Ford Research Laboratory, Sustainable Mobility Technologies, MD 1170 SRL, P.O. Box 2053, Dearborn, MI 48121-2053
2. Ford Motor Company, Ford Research Laboratory, Powertrain Control Systems, MD 2036 SRL, P.O. Box 2053, Dearborn, MI 48121-2053
3. Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI 48109-2122