1. Department of Control Science and Engineering, Harbin Institute of Technology, Mailbox 327, Harbin 150001, China e-mail:
2. Department of Control System Theory and Simulation, Beijing Aerospace Automatic Control Institute, Beijing 100854, China
3. Department of Construction Management, Curtin University, Perth 6102, Australia
4. Department of Mathematics and Statistics, Curtin University, Perth 6102, Australia