1. College of Electrical and Information Engineering; Northeast Petroleum University; Daqing 163318 China
2. Institute for Automatic Control and Complex Systems; University of Duisburg-Essen; 47057 Germany
3. Department of Automation; Tsinghua University; Beijing 100084 China
4. Department of Information Systems and Computing; Brunel University; Uxbridge, Middlesex UB8 3PH UK
5. Department of Mechanical Engineering; The University of Hong Kong; Pokfulam Road Hong Kong
6. Research Institute of Intelligent Control and Systems; Harbin Institute of Technology; Harbin 150001 China