1. Automation and Control Postgraduate Program, Universidad Politécnica Salesiana, Quito 170525, Ecuador
2. Electronics Engineering, Universidad Politécnica Salesiana, Quito 170525, Ecuador
3. School of Engineering, Newcastle University, Newcastle upon Tyne NE1 7RU, UK
4. Dipartimento di Ingegneria, Università degli Studi di Ferrara, 35-44121 Ferrara, Italy