In preparing your article for the IEEE Control Systems magazine, please download and follow the CSm Author's Guide. A few key points (see Author's Guide for more detailed information): All submissions to CSm should be through the website https://css.paperplaza.net Please number your pages You may use Word or LATEX. LATEX is preferred. Submitted manuscripts must be typeset in a single column format. CSm articles are intended to inform the control engineering community of developments in specialized areas of control.Therefore, submissions should strive for high-quality exposition to explain the principal issues and challenges of their applications area. At least some of the introduction should be of a tutorial nature. Do not include an abstract. Do not number sections. Center and boldface all major section headings, and left-align and boldface subheadings. Use punctuation after equations where appropriate. List references in the order of citation in the text. Please format references in the Magazine's style. Do not use footnotes for any purpose, including authors' addresses. Be sure that your figure captions are consistent with CSm style. Please refer to the material below concerning figure captions. The Magazine encourages color illustrations, figures, and photos. Although your PDF submission may be in black and white to minimize file size, you may wish to generate figures and images in color, which can be used when the paper is published. It is the responsibility of the author to obtain copyright permission for all materials that are subject to copyright protection. You must provide an explicit acknowledgment of permission within your article. Digital images must be at least 300 dpi to be publishable. Be sure to scan your photos at adequate resolution. Photographs are also acceptable. Author affiliation(s), address(es), and acknowledgments should appear on a separate page. Before final acceptance, you will be sent a copy-edited version of your original manuscript. Please make the corrections indicated in the interests of improving the readability and appearance of your article as well as to ensure uniformity with the magazine's style. Figure captions: Be sure that each figure is well-motivated and transmits an important point. In addition, CSm uses a style for figure captions that enhances the impact of figures. Please see the material later in this document. For copyrighted images, figure captions must include an explicit statement that permission has been given. It is the author's responsibility to obtain this permission prior to final acceptance of the manuscript.