1. ELyTMaX IRL3757, CNRS, Univ. Lyon, INSA Lyon, Centrale Lyon, Université Claude Bernard Lyon 1, Tohoku University, Sendai 980-8577, Japan
2. Univ. Lyon, INSA-Lyon, LGEF EA682, 69621 Villeurbanne, France
3. Department of Engineering, Durham University, South Road, Durham DH1 3LE, UK
4. Division of Mechatronics, Oita University, Oita 870-1192, Japan
5. Université Paris-Saclay, CentraleSupélec, CNRS, Laboratoire de Génie Electrique de Paris, 91192 Gif-sur-Yvette, France