1. Department of Control Systems and Informatics; Saint-Petersburg National Research University of Information Technologies Mechanics and Optics; Kronverkskiy pr. 49 Saint Petersburg 197101 Russia
2. Laboratory “Control of Complex Systems”; Institute for Problems of Mechanical Engineering; Bolshoy pr. V.O., 61 Saint Petersburg 199178 Russia
3. Department of Engineering Cybernetics; Norwegian University of Science and Technology; Trondheim NO-7491 Norway