[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
[2] China Acad Railway Sci Corp Ltd, Met & Chem Res Inst, Beijing 100081, Peoples R China
[3] Chinese Acad Sci, Inst Mech, State Key Lab Nonlinear Mech, Beijing 100190, Peoples R China
[4] Marquette Univ, Mech Engn Dept, Milwaukee, WI 53233 USA