In: 2018 IEEE 27th International Symposium on Industrial Electronics (ISIE). IEEE International Symposium on Industrial Electronics (ISIE-2018), located at 27th International Symposium on Industrial Electronics, June 13-15, Cairns, QLD, Australia, Pages 697-702, ISBN Electronic ISBN: 978-1-5386-3705-0, IEEE Xplore, 2018.