1. Faculty of Electrical Engineering and Computer Science; Ningbo University; Zhejiang 315211 P.R. China
2. Dept. of Chemical Engineering and Materials Science; University of California; Davis One Shields Avenue, Davis, CA 95616
3. Dept. of Chemical Engineering and Materials Science; University of California, Davis; One Shields Avenue Davis CA 95616
4. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education; East China University of Science and Technology; Shanghai 200237 P.R. China