[1] Northwestern Polytech Univ, Dept Appl Math, Xian 710072, Shaanxi, Peoples R China
[2] Univ Jean Monnet, GATE Lyon St Etienne, UMR 5824, CNRS, St Etienne, France
[3] Univ Twente, Fac Elect Engn Math & Comp Sci, Dept Appl Math, POB 217, NL-7500 AE Enschede, Netherlands