1. Automatic Control, Robotics and Mechatronics Research Group; University of Almería, Agrifood Campus of International Excellence, (ceiA3), CIESOL, Joint Center University of Almería - CIEMAT; Almería Spain
2. Plataforma Solar de Almería (PSA), Centro de Investigaciones Energéticas; Medioambientales y Tecnológicas (CIEMAT); 04200 Tabernas, Almería Spain
3. Department of Automation and System Engineering; University of Seville; 41092 Seville Spain