[1] Northwestern Polytech Univ, Dept Appl Math, Xian 710072, Peoples R China
[2] Chinese Acad Sci, Acad Math & Syst Sci, ICMSEC, LSEC, Beijing 100190, Peoples R China
[3] Univ Franche Comte, Dept Temps Fre Quence, F-25030 Besancon, France
[4] Grenoble Univ, GIPSA Lab, UMR CNRS 5216, F-38400 Grenoble, France