基金Supported by National Natural Science Foundation of China （61273260）, Specialized Research Fund for the Doctoral Program of Higher Education of China （20121333120010）, Natural Scientific Research Foundation of the Higher Education Institutions of Hebei Province （2010t65）, the Major Program of the National Natural Science Foundation of China （61290322）, Foundation of Key Labora- tory of System Control and Information Processing, Ministry of Education （SCIP2012008）, and Science and Technology Research and Development Plan of Qinhuangdao City （2012021A041）
