[1] Unit of Industrial Autom., Industrial Systems Inst., Rion Patras,26504, Greece
[2] Irimas, Universitê d' Haute Alsace, Mulhouse,68093, France
[3] LS2N, Umr 6004 Ecole Centrale de Nantes, Nantes,44321, France
[4] Rensselaer Polytech. Inst., Dept. Ecs Engineering, NY,12065, United States