[1] Peking Univ, Dept Engn Sci & Mech, Ctr Syst & Control, Intelligent Control Lab, Beijing 100871, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[3] Nanyang Technol Univ, Sch Chem & Biomed Engn, Singapore 639798, Singapore