1. University Institute of Intelligent Systems and Numeric Applications in Engineering, University of Las Palmas de Gran Canaria, 35017 Las Palmas, Spain
2. Department of Process Engineering, University of Las Palmas de Gran Canaria, 35017 Las Palmas, Spain
3. Department of Electronic and Automatic Engineering, University of Las Palmas de Gran Canaria, 35017 Las Palmas, Spain