With 176 Figures

Springer

Professor Dr. Lino Guzzella
Dr. Antonio Sciarretta
ETH Z rich
Institut f r Mess- und Regeltechnik
Sonneggstr. 3
8092 Z rich
Switzerland
guzzella@imrt.mavt.ethz.ch
sciarretta@imrt.mavt.ethz.ch

Library of Congress Control Number: 2005927900

ISBN 10 3-540-25195-2 Springer Berlin Heidelberg New York

ISBN-13

Springer Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9,1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under German Copyright Law.

Springer is a part of Springer Science+Business Media

http://www.springeronline.com

The use of general descriptive names, registered names, trademarks, etc. 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.

Typesetting: Dataconversion by authors
Final processing by PTP-Berlin Protago-T _EX-Production GmbH, Germany
Cover-Design: medionet AG, Berlin

62/3141/Yu - 5 4 3 2 1 0

Acknowledgments

Many people have implicitly helped us to prepare this manuscript. Specifically our teachers, colleagues, and students have contributed to bring us to the point where we felt ready to write this...