1. Mathematics Area, MathLab, International School for Advanced Studies (SISSA) 1 , Trieste, Italy
2. Mechanical Engineering Department 2 , Politecnico di Milano, Milan, Italy
3. Department of Pure and Applied Sciences, Informatics and Mathematics Section, University of Urbino Carlo Bo 3 , Urbino, Italy
4. Department of Electromechanical Engineering, C-MAST-Center for Mechanical and Aerospace Science and Technology, Universidade da Beira Interior 4 , Covilhã, Portugal