1. Department of Drive Automation and Robotics, Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Proszkowska Street 76, 45-272 Opole, Poland
2. Research and Development Centre Glokor, Gornych Walow 27a, 44-100 Gliwice, Poland
3. Department of Automation, Electrical Engineering and Optoelectronics, Faculty of Electrical Engineering, Czestochowa University of Technology, Armii Krajowej 17, 42-200 Czestochowa, Poland
4. Faculty of Infrastructure and Environment, Czestochowa University of Technology, 42-200 Częstochowa, Poland