1. Centre for Applied Dynamics and Optimization, School of Mathematics and Statistics, The University of Western Australia, 35 Stirling Hwy, Crawley, WA 6009, Australia
2. Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
3. Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan