1. Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven 5612 AZ, The Netherlands
2. Department of Computer Science, Catholic University of Leuven, Leuven 3001, Belgium
3. Department of Control Systems and Industrial Robotics, Saint-Petersburg National Research University of Information Technologies Mechanics and Optics (ITMO), Saint Petersburg 197101, Russia
4. Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven 5612 AZ, The Netherlands
5. Delft Center for Systems and Control, Delft University of Technology, Delft 2628 CD, The Netherlands