Institute of Automatic Control, Silesian University of Technology, Gliwice 44-100, Poland. Michal.Marczyk@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice 44-100, Poland. Michal.Marczyk@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice 44-100, Poland. Michal.Marczyk@polsl.pl|Institute of Automatic Control, Silesian University of Technology, Gliwice 44-100, Poland. Michal.Marczyk@polsl.pl