Vinayak - this is just a preprint, the authors are allowed to write whatever they like and how they like it, at their own risk; I would follow the printed version (in a journal, conference proceedings etc) - usually it gets better when reviewed & printed.

Vinayak - this is just a preprint, the authors are allowed to write whatever they like and how they like it, at their own risk; I would follow the printed version (in a journal, conference proceedings etc) - usually it gets better when reviewed & printed.

Dear Vinayak, I see the IFAC Copyright, which makes me guess that this is published in the proceedings of some IFAC conference, so don't expect any more extensive version. You should rather follow the references up to the paper where the model is derived.

Thanks