[1] ITMO Univ, Kronverkskiy Pr 49, St Petersburg 197101, Russia
[2] Russian Acad Sci, Inst Problems Mech Engn, Bolshoj 61, St Petersburg 199178, Russia
[3] Peter Great St Petersburg Polytech Univ, Dept Mech & Control Proc, Polytekhnicheskaya 29, St Petersburg 195251, Russia