[1] ISEL Engn Super Inst Lisbon, Dept Math, Rua Conselheiro Emidio Navarro 1, P-1950007 Lisbon, Portugal
[2] Univ Lisbon, Ctr Math Anal Geometry & Dynam Syst, Inst Super Tecnico, Av Rovisco Pais 1, P-1049001 Lisbon, Portugal
[3] Univ Aveiro, Ctr Res & Dev Math & Applicat CIDMA, Dept Math, P-3810193 Aveiro, Portugal
[4] Univ Lisbon, Ctr Math Anal Geometry & Dynam Syst, Inst Super Tecnico, Dept Math, Av Rovisco Pais 1, P-1049001 Lisbon, Portugal
[5] Univ Rey Juan Carlos, Dept Fis, Nonlinear Dynam & Chaos Grp, Tulipan s n, Madrid 28933, Spain