[1] Univ Ind Santander, Dept Syst & Informat Engn, Bucaramanga, Colombia
[2] Univ Ind Santander, Dept Elect Engn, Bucaramanga, Colombia
[3] Univ Ind Santander, Dept Phys, Bucaramanga, Colombia
[4] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield, S Yorkshire, England