[1] Univ Warwick, Warwick Mfg Grp, Coventry CV4 7AL, W Midlands, England
[2] Queens Univ, Belfast BT7 1NN, Antrim, North Ireland
[3] Tsinghua Univ, Dept Elect Engn, State Key Lab Power Syst, Beijing 100084, Peoples R China
[4] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China
[5] Univ Sci & Technol Beijing, Sch Comp & Commun Engn, Beijing 100083, Peoples R China