[1] Hungarian Acad Sci, Inst Comp & Automat, Syst & Control Lab, H-1518 Budapest, Hungary
[2] Univ Vigo, Dept Chem Engn, Vigo 36200, Spain
[3] Univ London Imperial Coll Sci Technol & Med, Proc Syst Engn Ctr, London SW7 2BY, England
[4] Carnegie Mellon Univ, Dept Chem Engn, Pittsburgh, PA 15213 USA