1. Faculty of Computational Mathematics and Cybernetics , MSU , 119991, GSP-1, 1-52, Leninsliye Gory; and Department of Control and Applied Mathematics, MIPT, 141700 , Moscow Region, 9 Institutsky pereulok, Dolgoprudny; and Federal Research Center “Computer Science and Control” of RAS, 119333, Moscow, 40 Vavilova str , Russia