Publication Details Author Roland Probst Zachary Cummins Chad Ropp Edo Waks Benjamin Shapiro Publication Type Journal Article Year of Publication 2012 Volume 32 Issue 2 Number of Pages 26-53 ISSN Number 1066-033X, 1941-000X DOI 10.1109/mcs.2011.2181584 Journal IEEE Control Systems DOIGoogle Scholar Contributors Groups JQI Waks Research Group