1. Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven 5600 MB, Netherlands
2. Institute for Design and Control of Mechatronical Systems, Johannes Kepler Universität, Linz 4040, Austria
3. Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven 5600 MB, Netherlands
4. Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven 5600 MB, Netherlands; TNO Automotive, Helmond 5708 JZ, Netherlands