[1] Otto von Guericke Univ, Dept Proc Syst Engn, Univ Pl 2, D-39106 Magdeburg, Germany
[2] Max Planck Inst Dynam Complex Tech Syst, Proc Syst Engn, Sandtorstr 1, D-39106 Magdeburg, Germany
[3] Univ Kaiserslautern, Dept Mechatron Mech & Automot Engn, Gottlieb Daimler Str 42, D-67663 Kaiserslautern, Germany
[4] Hamburg Univ Technol, Inst Math, Schwarzenberg Campus 3, D-21073 Hamburg, Germany