[1] Univ Duisburg Essen, Inst Automat Control & Complex Syst, D-47057 Duisburg, Germany
[2] Univ Appl Sci Gelsenkirchen, Dept Engn Phys, D-45877 Gelsenkirchen, Germany
[3] Univ Alberta, Dept Chem & Mat Engn, Edmonton, AB T6G 2M7, Canada
[4] BASF SE, Automat Technol, D-67056 Ludwigshafen, Germany