1. Science and Technology on Electromechanical Dynamic Control Laboratory, Beijing Institute of Technology, Beijing 100081, China
2. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada
3. Key Laboratory of Traffic Safety on Track, Central South University, Changsha 410083, China
4. Beijing Bo Tsing Technology Co., Ltd., Beijing 100176, China