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75272 PARIS CEDEX 06, FRANCE E-mail address: philippe.martin@mines-paristech CALLE 13 NO. 100?00, A.A. 25360, CALI, COLOMBIA E-mail address: ivonne.rivasl@correounivalle, FRANCE E-mail address: lionel.rosier@mines-paristech.fr CENTRE AUTOMATIQUE ET SYST`EMESSYST` SYST`EMES (CAS), MINES PARISTECH, PSL RESEARCH UNIVERSITY, pp.60-75272 ,