1. Digital, TECNALIA, Basque Research and Technology Alliance (BRTA), Parque Tecnológico de Álava Albert Einstein 28, 01510 Vitoria-Gasteiz, Álava, Spain
2. Digital, TECNALIA, Basque Research and Technology Alliance (BRTA), Astondo Bidea, Edificio 700, 48160 Derio, Biscay, Spain
3. System Engineering and Automation Control Department, University of the Basque Country (UPV/EHU), Nieves Cano, 12, 01006 Vitoria-Gasteiz, Álava, Spain