Copyright conditions The material submitted for presentation at an IFAC meeting (congress, symposium, conference, workshop) must be original, not published or being considered elsewhere. All papers accepted for presentation will appear in the Preprints of the meeting and will be distributed to the participants. Papers duly presented will be archived and offered for sale, in the form of Proceedings, by Elsevier Science Ltd, Oxford, UK. The presented papers will be further screened for possible publication in the IFAC Journals (Automatica, Control Engineering Practice, Annual Reviews in Control, Journal of Process Control and Engineering Applications of Artificial Intelligence), or in IFAC affiliated journals. All papers presented will be recorded on the IFAC Publications website (http://www.elsevier.com/locate/ifac ). Copyright of material presented at an IFAC meeting is held by IFAC. Authors will be sent a copyright transfer form. The IFAC Journals and, after these, IFAC affiliated journals have priority access to all contributions presented. However, if the author is not contacted by an editor of these journals, within three months after the meeting, he/she is free to re-submit the material for publication elsewhere. In this case, the paper must carry a reference to the IFAC meeting where it was originally presented.