[1] Carl von Ossietzky Univ Oldenburg, Dept Comp Sci, Ammerlnder Heerstr 114-118, D-26129 Oldenburg, Germany
[2] Univ Paris Saclay, Univ Paris Sud, CentraleSupelec, Lab Signaux & Syst,CNRS, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France
[3] Swiss Fed Inst Technol, Automat Control Lab, Phys Str 3, CH-8092 Zurich, Switzerland
[4] Univ Colorado, Dept Comp Sci, Boulder, CO 80301 USA