1. Department of Mechatronics, Silesian University of Technology, Akademicka 2A, 44-100 Gliwice, Poland
2. Department of Electrical, Electronics and Informatics Engineering, University of Catania, Viale Andrea Doria 6, 95125 Catania, Italy
3. Department of Mathematics Applications and Methods for Artificial Intelligence, Faculty of Applied Mathematics, Silesian University of Technology, 44-100 Gliwice, Poland