1. School of Electrical, Electronic, and Mechanical Engineering, University College Dublin, Belfield, Dublin 4, Ireland
2. Department of Advanced and Applied Mathematics, The Russian State Open Technical University of Railway Transport, Chasovaya Street, Moscow 22∕2, Russia
3. Dipartimento di Ingegneria Industriale, Università degli Studi di Perugia, 06125 Perugia, Italy