1. Department of Automation; Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China; Shanghai 200240 China
2. No. 802 Institute of Shanghai Academy of Space Flight Technology; The Eighth Academy of China Aerospace Science and Technology Corporation; Shanghai 200090 China
3. Charles L. Brown Department of Electrical and Computer Engineering; University of Virginia; P.O. Box 400743 Charlottesville VA 22904-4743 USA