[1] China Univ Min & Technol, Sch Informat & Control Engn, Minist Educ, Underground Space Intelligent Control Engn Res Ct, Xuzhou 221116, Jiangsu, Peoples R China
[2] Beijing Gen Res Inst Min & Met, Beijing Key Lab Proc Automat Min & Met, State Key Lab Proc Automat Min & Met, Beijing 100160, Peoples R China
[3] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
[4] Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110004, Peoples R China
[5] Univ Surrey, Dept Chem & Proc Engn, Guildford, Surrey, England