[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Minist Educ China, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
[3] Shanghai Engn Res Ctr Intelligent Control & Manage, Shanghai 200240, Peoples R China
[4] Hong Kong Polytech Univ, Dept Elect Engn, Hong Kong 999077, Peoples R China
[5] Univ Saskatchewan, Dept Elect & Comp Engn, Saskatoon, SK S7N5A9, Canada