Affiliation: | 1. Automatic Control Department, Technical University of Catalonia (UPC), Pau Gargallo 5, 08028 Barcelona, Spain;2. Institut de Robòtica i Informàtica Industrial (CSIC), Carrer Llorens i Artigues, 4–6, 08028 Barcelona, Spain;3. Applied Mathematics Department (MA2), Technical University of Catalonia (UPC), Carrer Colom 11, 08222 Terrassa, Spain |