[1] Univ Exeter, Engn Dept, North Pk Rd, Exeter EX4 4QF, Devon, England
[2] Inst Problems Mech, Pr Vernadskogo 101-1, Moscow 119526, Russia
[3] Brigham Young Univ, Mech Engn, Engn Bldg, Provo, UT 84602 USA
[4] Escuela Super Politecn Litoral, Ctr Appl Dynam Syst & Computat Methods CADSCOM, Fac Nat Sci & Math, POB 09-01-5863, Guayaquil, Ecuador