1. Institute of Control Technology; Wuxi Institute of Technology; Wuxi 214122 China
2. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education); Jiangnan University; Wuxi 214122 China
3. Institute of Control and Computation Engineering; University of Zielona Gora; ul. Podgorna 50 Zielona Gora 65-246 Poland
4. Department of Electronics and Computer Science; University of Southampton; Southampton SO17 1BJ UK