基金项目：国家自然科学基金项目(60674062)
作者简介：臧利林(1979-),男,山东青岛人,工学博士研究生,E-mail:zang_lilin@sohu.com.
作者单位：臧利林（山东大学,控制科学与工程学院,山东,济南,250061）
贾磊（山东大学,控制科学与工程学院,山东,济南,250061）
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