基金Acknowledgements This work was supported in part by the National Natural Science Foundation of China （Grant No. 51675279）, the China Postdoctoral Science Foundation funded project （Grant Nos. 2014M551593 and 2015T80553）, and the Natural Science Foundation of Jiangsu Province in China （Grant No. BK20141402）. The author also wants to express his appreciation to Prof. B. Yao for hosting his visit at Purdue University from October 2010 to October 2011, and the guidance in adaptive and robust design.