1. Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, 1/15 Stefanowski Str., 90-924 Lodz, Poland
2. Department of Mathematics and Modeling, Saratov State Technical University, Politehnicheskaya 77, 410054 Saratov, Russian Federation
3. Cybernetic Institute, National Research Tomsk Polytechnic University, 30 Lenin Avenue, 634050 Tomsk, Russian Federation