1. School of Astronautics; Harbin Institute of Technology; 150001 Harbin People's Republic of China
2. Automatic and Process Control Laboratory; University of Lyon; Lyon F-69003 France
3. Université Lyon 1, CNRS UMR 5007; Villeurbanne F-69622 France
4. Centre de Recherche en Automatique de Nancy; Université de Lorraine, CNRS UMR 7039; Vandoeuvre-les-Nancy F-54506 France