1. Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, P. R. China
2. Institute for Automatic Control and Complex Systems (AKS), University of Duisburg-Essen, Germany
3. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai, China