1. Department of Automation, Tsinghua University, Beijing, People's Republic of China
2. CNRS, Ampère, UMR5005, Univ Lyon, INSA Lyon, Université Claude Bernard Lyon 1, Ecole Centrale de Lyon, Villeurbanne, France
3. XLIM (UMR CNRS 7252), Université de Poitiers, Poitiers Cedex 9, France
4. CNRS, LS2N, UMR 6004, Nantes Université, École Centrale Nantes, Nantes, France
5. School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, VIC, Australia