1. College of Automation, Guangdong University of Technology, Guangzhou 510006, P. R. China
2. College of Information Engineering, Xiangtan University, Hunan, Xiangtan 411105, P. R. China
3. Academy of Mathematics and Systems Sciences, Chinese Academy of Sciences, Beijing 100190, P. R. China
4. Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia