College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China;
School of Automation Southeast Univer-sity Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE) Ministry of Education Nanjing 210096 China;
Department of Aeronautical and Automotive Engineering Loughborough University Loughborough LE113TU UK;