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in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The use of general descriptive names, registered names, trademarks, service marks, etc. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. ISSN 1439-2232 ISSN 2510-3814 (electronic) Advanced Textbooks in Control and Signal Processing ISBN 978-981-10-8320-4 ISBN 978-981-10-8321-1 (eBook) Library of Congress Control Number: 2018931511 © Springer Nature Singapore Pte Ltd. Jenő Hetthéssy Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest, Hungary Csilla Bányász Institute for Computer Science and Control Hungarian Academy of Sciences Budapest, Hungary László Keviczky Institute for Computer Science and Control Hungarian Academy of Sciences Budapest, Hungary Ruth Bars Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest, Hungary László Keviczky Ruth Bars Jenő Hetthéssy Csilla Bányász

Johnson, Oxford, UK Linda Bushnell, Seattle, WA, USA László Keviczky Ruth Bars Jenő Hetthéssy Csilla BányászĪdvanced Textbooks in Control and Signal Processing Series editors Michael J. Advanced Textbooks in Control and Signal Processing