1. Department of Computer Science, Electrical and Space Engineering, Control Engineering Group, Luleå University of Technology, Luleå, Sweden
2. IHM Stefanini, Belo Horizonte, Brazil
3. Graduate Program in Electrical Engineering, Universidade Federal of Minas Gerais, Belo Horizonte, Minas Gerais, Brazil
4. Department of Electronics Engineering, Universidade Federal of Minas Gerais, Belo Horizonte, Minas Gerais, Brazil