[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China
[3] Victoria Univ, Sch Sci & Engn, Melbourne, Vic 8001, Australia
[4] Univ Glamorgan, Dept Comp & Math Sci, Pontypridd CF37 1DL, M Glam, Wales