1. a SC Solutions Inc. , 3211 Scot Boulevard, Santa Clara, CA, 95054, USA
2. b Mechanical Engineering Systems and Control Group , Delft University of Technology , Mekelweg 2, Delft, 2628, CD, The Netherlands
3. c Faculty of Mechanical Engineering, Systems and Control Group , Eindhoven University of Technology , P.O. Box 513, Eindhoven, 5600, MB, The Netherlands