Center for Optimization & Semantic Control, Department of Systems Science & Mathematics Washington University in St. Louis Campus Box 1040, One Brookings Drive, St. Louis, MO 63130-4899, U.S.A.;Advanced Development Center, Electronics & Space Corporation Mail Stop 4363, 8100 W. Florissant Avenue, St. Louis, MO 63136-1494, U.S.A.;Advanced Development Center, Electronics & Space Corporation Mail Stop 4410, 8100 W. Florissant Avenue, St. Louis, MO 63136-1494, U.S.A.