Institute of Control and Information, School of Automation, Northwestern Polytechnical University, Xian, China. zhangsw@nwpu.edu.cn|Institute of Control and Information, School of Automation, Northwestern Polytechnical University, Xian, China. zhangsw@nwpu.edu.cn|Institute of Control and Information, School of Automation, Northwestern Polytechnical University, Xian, China. zhangsw@nwpu.edu.cn|Institute of Control and Information, School of Automation, Northwestern Polytechnical University, Xian, China. zhangsw@nwpu.edu.cn