1. Department of Automatic Control, Center for Supervision, Safety, and Automatic Control, Technical University of Catalonia, BarcelonaTECH, Terrassa 08222, Spain e-mail:
2. Department of Mining, Industrial, and ICT Engineering, Center for Supervision, Safety, and Automatic Control, Technical University of Catalonia, BarcelonaTECH, Manresa 08240, Spain e-mail:
3. Department of Mining, Industrial and ICT Engineering, Technical University of Catalonia, BarcelonaTECH, Manresa 08240, Spain e-mail:
4. Center for Supervision, Safety, and Automatic Control, Technical University of Catalonia, BarcelonaTECH, Terrassa 08222, Spain e-mail: