1. Unit of Industrial Automation, Industrial Systems Institute, 26504, Rion Patras, Greece
2. Department of ECSE, Rensselaer Polytechnic Institute, New York 12065, USA
3. Nonlinear Control Group, University of Northumbria, Newcastle NE1 8ST, UK
4. Department of Mechanical Engineering, University of Northumbria, Newcastle NE1 8ST, UK