1. Department of Systems and Control Engineering, Tokyo Institute of Technology 1 , Tokyo 152-8550, Japan
2. Department of Applied Mathematics and Computer Science, Universidad de Cantabria 2 , Santander, Spain
3. Department of Mathematics and naXys, Namur Institute for Complex Systems, University of Namur 3 , Rue Grafé 2, 5000 Namur, Belgium
4. Graduate School of Science and Engineering, Kagoshima University 4 , Korimoto 1-21-35, 890-0065 Kagoshima, Japan