1. Department of Mechanical and Industrial Engineering, College of Engineering, Sultan Qaboos University, P.O. Box 33, Al-Khoud, 123 Muscat, Oman
2. Department of Control Engineering, Kisarazu National College of Technology, 2 Chome-11-1 Kiyomidaihigashi, Kisarazu, Chiba 292-0041, Japan
3. Department of Computer and Electrical Engineering, College of Engineering, Sultan Qaboos University, P.O. Box 33, Al-Khoud, 123 Muscat, Oman