... Murray,

G. Murray is with the IEEE publications department. E-mail: gmurray@ieeepub.org .

... Balemi

S. Balemi is with the Automatic Control Laboratory, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland. E-mail: balemi@aut.ee.ethz.ch .

...

Note that the ``thanks'' command does no longer produce footnote marks.

... usual.

The footnote is indicated by a footnote mark