[1] INRIA, Non A Team, Parc Sci Haute Borne,40 Ave Halley, F-59650 Villeneuve Dascq, France
[2] CNRS, Ecole Cent Lille, UMR 9189, CRIStAL, Ave Paul Langevin, F-59651 Villeneuve Dascq, France
[3] Univ ITMO, Dept Control Syst & Informat, 49 Ave Kronverkskiy, St Petersburg 197101, Russia
[4] Univ Leeds, Sch Elect & Elect Engn, Leeds LS2 9JT, W Yorkshire, England