1. College of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
2. Advanced Equipment Research Institute Co., Ltd. of HEBUT, Tianjin 300401, China
3. College of Engineering and Physical Sciences, Aston University, Birmingham B4 7ET, UK
4. Beijing Institute of Control Engineering, Beijing 100190, China
5. Centre for Efficiency and Performance Engineering, University of Huddersfield, Huddersfield HD1 3DH, UK