edited by E.F. Camacho, L. Basañez, J.A. de la Puente. -- Published for the International Federation of Automatic Control by Pergamon, 2003. -- (Proceedings of the 15th IFAC World Congress, International Federation of Automatic Control, Barcelora, Spain, 21-26 July 2002 / edited by E.F. Camacho, L. Basañez, J.A. de la Puente ; vol. O).