1. College of Mechanical Engineering and the Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China
2. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China
3. College of Control Science and Engineering, Zhejiang University, Hangzhou, China
4. Department of Electrical Engineering, University of South Carolina, Columbia, SC, USA