1. Center for Technology and Systems – UNINOVA and DEE , NOVA School of Science and Technology of NOVA University of Lisbon , Porto , Portugal
2. Faculty of Engineering , University of Porto , Rua Dr. Roberto Frias , Porto 4200–465 , Portugal
3. Dept. of Electrical Engineering , Institute of Engineering, Polytechnic of Porto , Rua Dr. Antonio Bernardino de Almeida, 431 , Porto 4249-015 , Portugal