1. Department of Mechanical and Aerospace Engineering, University of Rome “La Sapienza”, Via Eudossiana 18, 00184 Rome, Italy
2. Department of Electrical, Management and Mechanical Engineering, University of Udine, Via Delle Scienze 206, 33100 Udine, Italy
3. Department of Computer, Control and Management Engineering “Antonio Ruberti”, University of Rome “La Sapienza”, Via Ariosto 25, 00186 Rome, Italy