1. School of Engineering, Newcastle University, Newcastle upon Tyne NE1 7RU, UK
2. Electrical Engineering Department, Faculty of Engineering, Bayero University, Kano, Nigeria
3. School of Automation Engineering, University of Electronic Science and Technology, Chengdu, People's Republic of China
4. Department of Mechatronics Engineering, Faculty of Engineering, International Islamic University Malaysia, Kuala Lumpur, Malaysia