1. a LASEM: Laboratory of Electromechanical Systems , University of 7 November (Carthage), Faculty of Sciences of Bizerta , BP W-7000, Bizerta, Tunisia
2. b REGIM: Research Group on Intelligent Machines , University of Sfax, ENIS, Department of Electrical Engineering , BP W-3038, Sfax, Tunisia
3. c LASEM: Laboratory of Electromechanical Systems , University of Sfax, ENIS, Department of Mechanical Engineering , BP W-3038, Sfax, Tunisia