1. Key Laboratory of Information and Communication Systems, Ministry of Information Industry Beijing Information Science and Technology University Beijing 100101 China
2. Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing 100101 China
3. Key Laboratory of Information and Communication Systems, Ministry of Information Industry Beijing Information Science and Technology University, Tangshan Beijing 100101 China
4. Key Lab of Intelligent Data Information Processing and Control of Hebei Province and Key Lab of Intelligent Motion Control System of Tangshan City Tangshan University Tangshan 063002 China