by Paul Tseng and Zhi-Quan Luo.
Cover title.
Includes bibliographical references (p. 13-15).
Supported by the National Science Foundation. NSF-DDM-8903385 Supported by the U.S. Army Research Office (Center for Intelligent Control Systems) DAAL03-86-K-0171 Supported by a grant from the Science and Engineering Research Board of McMaster University.