CAI Xiu-Shan Professor in the College of Mathematics, Physics and Information Engineering, Zhejiang Normal University. Her research interest covers nonlinear control and its applications. Corresponding author of this paper. E-mail: xiushan@zjnu.cn HAN Zheng-Zhi Professor in the School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University. His research interest covers robotics, computer vision, and nonlinear control and its applications. E-mail: zzhan@sjtu.edu.cn ZHANG Wei Ph.D. candidate in the School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University. His research interest covers nonlinear control and its applications. E-mail: avee@sjtu.edu.cn