1. Safety and Automatic Control Research Center (CS2AC), Polytechnic University of Catalonia (UPC), Terrassa Campus, Gaia Research Bldg., Rambla Sant Nebridi, 22, Terrassa, Barcelona 08222, Spain
2. Department of Electronics and Information, Politecnico di Milano, Piazza Leonardo da Vinci, Milano 32 I-20133, Italy