[1] Univ Ghent, BIOMATH, Dept Appl Math Biometr & Proc Control, B-9000 Ghent, Belgium
[2] Lund Univ, Dept Ind Elect Engn & Automat, SE-22100 Lund, Sweden
[3] Tech Univ Denmark, Dept Chem Engn, DK-2800 Lyngby, Denmark
[4] Jozef Stefan Inst, Dept Syst & Control, SL-1000 Ljubljana, Slovenia
[5] Delft Univ Technol, Dept Biochem Engn, NL-2628 BC Delft, Netherlands
[6] Univ Laval, ModelEAU, Dept Genie Civil, Laval, PQ G1K 7P4, Canada