The authors want to thank the ZF and BMW development teams (in alphabetical order): Lena Amann, Kiran Balasubramanian, Hans-Peter Bausch, Steffen Bieser, Joachim Cichy, Torben Fischer, Christian Gärtner, Kilian Hachmann, Stefan Heiß, Florian Küber, Jürgen Metzger, Arun Muthu, Parthasarathy Nadarajan, Dr. Nenad Ocelic´, Ralf Schütte, Kamal Semaan (all ZF), as well as Rainer Huber and Cristina Menéndez (both BMW).