Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland. jaroslaw.smieja@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland. jaroslaw.smieja@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland. jaroslaw.smieja@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland. jaroslaw.smieja@polsl.pl