1. Department of Control Science and Engineering; Tongji University; Shanghai 200092 China
2. Department of Mechanical and Biomedical Engineering; City University of Hong Kong; Kowloon Hong Kong
3. Key Laboratory of Advanced Control and Optimation for Chemical Processes of Ministry of Education; East China University of Science and Technology; Shanghai 200237 China
4. School of Information Science and Engineering; East China University of Science and Technology; Shanghai 200237 China