1. Laboratory of Automatic and Process Control, CNRS, UMR 5007, LAGEP; Université de Lyon; Lyon F-69003 France
2. Laboratory for Advanced Systems at the Tunisia Polytechnic School; University of Carthage; Carthage Tunisia
3. Centre de Recherche en Automatique de Nancy (CRAN); Université de Lorraine; CNRS, B.P. 70239 F-54506 Vandœuvre lès Nancy France