1. Electronics and Automation Department, Universidad Politecnica Salesiana, UPS, Quito 170146, Ecuador
2. Faculty of Systems, Electronics and Industrial Engineering, Universidad Tecnica de Ambato, UTA, Ambato 180206, Ecuador
3. Unidad Educativa Mitad del Mundo, Ecuador Ministry of Education, Quito 170308, Ecuador
4. Departamento de Ingeniería de Sistemas y Automática, University of the Basque Country, EHU/UPV, 48013 Bilbao, Spain