[1] ESPOL Polytechnic University, Escuela Superior Politécnica Del Litoral, Faculty of Mechanical Engineering and Production Science (FIMCP), Mechatronics Engineering, Campus Gustavo Galindo Km. 30.5 Vía Perimetral, P.O. Box 09-01-5863, Guayaquil, Ecuador
[2] Control, Modeling, Identification and Applications (CoDAlab), Department of Mathematics, Escola d'Enginyeria de Barcelona Est (EEBE), Universitat Politècnica de Catalunya (UPC), Campus Diagonal-Besós (CDB), Eduard Maristany, 16, Barcelona,08019, Spain
[3] Institute of Mathematics (IMTech), Universitat Politècnica de Catalunya (UPC), Pau Gargallo 14, Barcelona,08028, Spain
[4] Universidad ECOTEC, Km. 13.5 Vía a Samborondón, Guayaquil, Ecuador