1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, People's Republic of China
2. Advanced Control Systems (SAC) Research Group at Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Automatic Control Department (ESAII), Universitat Politècnica de Catalunya-BarcelonaTech (UPC), Barcelona, Spain
3. Cetaqua, Water Technology Center, Barcelona, Spain