by Zhi-Quan Luo and Paul Tseng.
Cover title.
Includes bibliographical references (p. 31-34).
Research partially supported by the U.S. Army Research Office (Center for Intelligent Control Systems) DAAL03-86-K-0171 Research partially supported by the National Science Foundation. NSF-ECS-8519058 Research partially supported by the Science and Engineering Research Board of McMaster University.