%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% =========================================================================
%%%  @LaTeX-style-file{
%%%     author          = "Silvano Balemi",
%%%     version         = "1.4",
%%%     date            = "8-JUNE-93",
%%%     filename        = "ACCarticle.sty",
%%%     address         = "Automatic Control Laboratory
%%%                        Swiss Federal Institute of Technology (ETH)
%%%                        8092 Zurich, Switzerland",
%%%     telephone       = "+41 (1) 256.55.35",
%%%     FAX             = "+41 (1) 262.43.62",
%%%     email           = "balemi@aut.ee.ethz.ch",
%%%     keywords        = "LaTeX, ACC proceedings, Camera ready,
%%%                        publisher style",
%%%     supported       = "yes",
%%%     mainserver      = "ifa.ethz.ch"
%%%     docstring       = "This is a LaTeX style file for camera ready
%%%                        articles according to instructions of the 
%%%                        IEEE American Control Conference (ACC).
%%%                        The default font size is 10 points.
%%%
%%%                        Usage:
%%%                           \documentstyle{ACCarticle}
%%%                           \begin{document}
%%%                           \author{...} 
%%%                           \title{...} 
%%%                           \maketitle
%%%                           \begin{abstract}...\end{abstract}
%%%                           
%%%                           \section {Introduction}
%%%                           ...
%%%                           \end{document}
%%%
%%%                        The command "\footernote{TEXT}" puts the
%%%                        text TEXT at the bottom of the page
%%%                        together with the page number. In order to 
%%%                        remove footnote and page number, insert
%%%                           \thispagestyle{empty}\pagestyle{empty}
%%%                        right after the \maketitle command!!
%%%
%%%                        You may want to adjust the position of the
%%%                        text on the page (for your specific
%%%                        printer) with the commands
%%%                           \addtolength{\oddsidemargin}{Xmm} % right Xmm
%%%                           \addtolength{\topmargin}{Ymm}     % down Ymm
%%%                        "
%%% }
%%% =========================================================================
%%%
%%%	LaTeX-style-file adapted for IEEE CDC 1996 publications specifications
%%%	for exact size printing on A4 paper
%%%	(also to be used for IEEE CDC 1997 and ACC 1997).
%%%	For a sample tex file using this sytle file see cdc96.tex
%%%

\typeout{Document Style `cdcartA4' <20-JUNE-96>.}

\input article.sty\relax
\def\keywords#1{}

\textheight 243mm	%Rev. <15-JUNE-96> C. Schrader
\textwidth 177mm	%Rev. <15-JUNE-96> C. Schrader
\columnsep 10mm     	%Rev. <15-JUNE-96> C. Schrader
\parindent 0pt
\parskip 1em    % Spacing around sectioning now robust wrt changes in parskip 
\oddsidemargin -9.4mm   %Rev. <20-JUNE-96> C. Schrader
\evensidemargin -9.4mm  %Rev. <20-JUNE-96> C. Schrader
\topmargin -12mm        %Rev. <20-JUNE-96> C. Schrader
\twocolumn
\sloppy
\flushbottom

\def\maketitle{\par
 \begingroup
 \def\@makefnmark{\hbox{$^{\@thefnmark}$\hss}}
 \if@twocolumn 
 \twocolumn[\@maketitle] 
 \else \newpage
 \global\@topnum\z@ \@maketitle \fi\pagestyle{myheadings}\@thanks
 \endgroup
 \setcounter{footnote}{0}
 \let\maketitle\relax
 \let\@maketitle\relax
 \gdef\@thanks{}\gdef\@author{}\gdef\@title{}\let\thanks\relax}

\def\@maketitle{\newpage
 \null \vskip .3em  	 %Rev. <20-JUNE-96> C. Schrader
\begin{center}
 {\LARGE\bf \@title \par} \vskip 1.5em {\large \lineskip .5em
 \begin{tabular}[t]{c}\@author 
 \end{tabular}\par} 
 \end{center}
 \par
 \vskip 1.5em} 

\def\@startsection#1#2#3#4#5#6#7{\if@noskipsec \leavevmode \fi
   \par \@tempskipa #4\relax
   \@afterindenttrue
   \ifdim \@tempskipa <\z@ \@tempskipa -\@tempskipa \@afterindentfalse\fi
   \addtolength{\@tempskipa}{-\parskip}
   \if@nobreak \everypar{}\else
     \addpenalty{\@secpenalty}\addvspace{\@tempskipa}\fi
     \@ifstar
     {\@ssect{#1}{#2}{#3}{#4}{#5}{#6}{#7}}
     {\@dblarg{\@sect{#1}{#2}{#3}{#4}{#5}{#6}{#7}}}}

\def\@sect#1#2#3#4#5#6#7[#8]#9{
   \ifnum #2>\c@secnumdepth
      \def\@svsec{}
   \else 
      \ifnum #2> 2 % if it is subsubsection, paragraph  ...
        \refstepcounter{#1}\edef\@svsec{{\csname the#1\endcsname}\hskip .5em }
      \else        % if it is section or subsection, put "." after number
	 %Rev. <20-JUNE-96> C. Schrader ("." removed)
        \refstepcounter{#1}\edef\@svsec{{\csname the#1\endcsname}\hskip .5em }
      \fi
   \fi
   \@tempskipa #5\relax
   \ifdim \@tempskipa>\z@ 
      \begingroup #6\relax
      \ifnum #2 > 1  % if it is not a section .. 
         %% header indented at right of section number
         %\@hangfrom{\hskip #3\relax\@svsec}{\interlinepenalty \@M #8#7\par}
         %% header on the same line as section number
         \@hangfrom{\hskip #3\relax}{\@svsec\interlinepenalty \@M #8#7\par}
      \else          % if it is a section .. 
         \setbox1=\hbox{\@svsec #8#7}
         \ifdim \wd1>\columnwidth
             {\centering\@svsec \interlinepenalty \@M #8#7\par}
         \else  % if it is section AND not wider then width of column
             \vskip\parskip\centerline{\@svsec\interlinepenalty\@M #8#7}\par
         \fi
      \fi
      \endgroup
      \csname #1mark\endcsname{#8}\addcontentsline
         {toc}{#1}{\ifnum #2>\c@secnumdepth \else
                      \protect\numberline{\csname the#1\endcsname}\fi
                    #8}
   \else
        \def\@svsechd{#6\hskip #3\@svsec #9#7\csname #1mark\endcsname
              {#8}\addcontentsline {toc}{#1}{\ifnum #2>\c@secnumdepth \else
               \protect\numberline{\csname the#1\endcsname}\fi
               #8}}
   \fi
   \@xsect{#5}}

\def\@ssect#1#2#3#4#5#6#7#8{\@tempskipa #5\relax
  \ifdim \@tempskipa>\z@
     \begingroup #6\relax
     \ifnum #2 > 1 
         \@hangfrom{\hskip #3}{\interlinepenalty\@M #8#7\par}
     \else % if it is section AND not wider then width of column
         \setbox1=\hbox{#8#7}
         \ifdim \wd1>\columnwidth
             {\centering#8#7\par}
         \else
             \vskip\parskip\centerline{#8#7}\par
         \fi
     \fi
     \endgroup
  \else 
     \def\@svsechd{#6\hskip #3\relax #8#7}
  \fi
  \@xsect{#5}}

\def\@xsect#1{\@tempskipa #1\relax
      \ifdim \@tempskipa>\z@
       \par \nobreak
       \addtolength{\@tempskipa}{-\parskip}
       \vskip \@tempskipa
       \@afterheading
    \else \global\@nobreakfalse \global\@noskipsectrue
       \everypar{\if@noskipsec \global\@noskipsecfalse
                   \clubpenalty\@M \hskip -\parindent
                   \begingroup \@svsechd \endgroup \unskip
                   \hskip -#1
                  \else \clubpenalty \@clubpenalty
                    \everypar{}\fi}\fi\ignorespaces}

\def\section{\@startsection{section}{1}{\z@}
{6.5ex plus 0.5ex minus 0.5ex}{3ex plus 0.3ex}{\bf}{}}
\def\subsection{\@startsection{subsection}{2}{\z@}{3.0ex plus 
.3ex minus .1ex}{0.01ex plus .0ex}{\bf}{}}
\def\subsubsection{\@startsection{subsubsection}{3}{2em}{3.0ex plus 
.3ex minus .1ex}{-1em}{\bf}{:}}

\def\thebibliography#1{\section*	%Rev. <20-JUNE-96> C. Schrader
{References\@mkboth
 {References}{References}}\parskip 0pt \list 
 {[\arabic{enumi}]\hfill}{\labelwidth 7mm \leftmargin\labelwidth
 \itemindent 9mm \itemsep 0pt
\advance\leftmargin -7mm
 \usecounter{enumi}}
 \def\newblock{\hskip .11em plus .33em minus .07em}
 \sloppy\clubpenalty4000\widowpenalty4000
 \sfcode`\.=1000\relax}
\let\endthebibliography=\endlist

\def\ps@myheadings{\let\@mkboth\@gobbletwo
     \def\@oddhead{}\def\@oddfoot{\hfil
 \@footernote\ \qquad p. \thepage}
\def\@evenhead{}\def\@evenfoot{
p. \thepage\qquad  \@footernote\ \hfil }
}

%%% Redefines captions
\newlength{\captionindent}
\long\def\@makecaption#1#2{
      \vskip 10pt 
      \setbox\@tempboxa\hbox{{\bf #1:} \rm #2}
      \ifdim \wd\@tempboxa >\hsize 
      \setbox\@tempboxa\hbox{\bf#1:~}
      \setlength\captionindent{\wd\@tempboxa} % caption indent of width of #1
%      \setlength\captionindent{0pt}           % no caption indent 
      \parbox[t]{\hsize}{\small \hangindent \captionindent \hangafter=1% 
      \unhbox\@tempboxa#2}
      \else \hbox to\hsize{\hfil\box\@tempboxa\hfil} 
      \fi
}

%%% defines the QED square and the proof environment
\def\QED{~\rule[-1pt]{5pt}{5pt}\par\medskip}
\newenvironment{proof}{{\bf Proof: \ }}{ \hfill \QED}

%%% used a tex at the foot of the article
\def\footernote#1{\def\@footernote{#1}}
\footernote{}

% set up default pagestyle
\pagestyle{myheadings}

%% make itemsep narrower
\def\@normalsize{\@setsize\normalsize{11.9pt}\xpt\@xpt
\abovedisplayskip 10pt plus2pt minus5pt
\belowdisplayskip \abovedisplayskip
\abovedisplayshortskip \z@ plus3pt
\belowdisplayshortskip 6pt plus3pt minus3pt
\def\@listi{\leftmargin\leftmargini
 \topsep -\parskip \addtolength{\topsep}{0.5em}
 \parsep 1pt plus 1pt minus 1pt
 \itemsep 2pt plus 1pt minus 1pt
}} 

