1. Advanced Control Systems (SAC) Research Group, Polytechnic University of Catalonia (UPC-Barcelo-naTech), Terrassa Campus, Gaia Research Bldg, Rambla Sant Nebridi, 22, 08222 Terrassa, Spain
2. Institut de Robòtica i Informàtica Industrial (CSIC-UPC), 46 Llorens i Artigas Street, 08028 Barcelona, Spain