1. School of Reliability and Systems Engineering Beihang University Beijing 100191 China
2. School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China
3. Key Laboratory of Control Engineering of Henan Province Henan Polytechnic University Jiaozuo 454000 China
4. Department of Mechanical Engineering The University of Hong Kong Hong Kong
5. Key Laboratory of Science and Technology on Reliability and Environmental Engineering Beihang University Beijing 100191 China