[1] TecNM Inst Tecnolg Celaya, Dept Elect Engn, Celaya 38010, Mexico
[2] IPICyT, Dynam Syst Dept, San Luis Potosi 78216, San Luis Potosi, Mexico
[3] Polytech Univ Queretaro, Mechatron Dept, Queretaro 76240, Mexico
[4] Autonomous Univ Madrid, Elect & Commun Technol Dept, Madrid 28049, Spain
[5] Rey Juan Carlos Univ, Elect Technol Area, Mostoles 28933, Spain