This was my favorite read,<p><a href="https:&#x2F;&#x2F;users.ece.cmu.edu&#x2F;~koopman&#x2F;pubs&#x2F;koopman14_toyota_ua_slides.pdf" rel="nofollow">https:&#x2F;&#x2F;users.ece.cmu.edu&#x2F;~koopman&#x2F;pubs&#x2F;koopman14_toyota_ua_...</a>