1. Motion Control and Industrial Applications (MCIA) Group, Department of Electronic Engineering, Universitat Politècnica de Catalunya (UPC), C/Colom, 1, 08222 Terrassa, Spain
2. Terrassa Industrial Electronics (TIEG) Group, Department of Electronic Engineering, Universitat Politècnica de Catalunya (UPC), C/Colom, 1, 08222 Terrassa, Spain
3. Power Electrical and Electronic Systems Research Group, Department of Electrical, Electronic and Control Engineering, University of Extremadura, 06006 Badajoz, Spain