Manuscript received January 17, 2019; revised March 30, 2019; accepted May 3, 2019. Date of publication May 7, 2019; date of current version October 18, 2019. This work was supported in part by the EU-funded Marie Sklodowska-Curie Individual Fellowships (IF) Project under Grant 706253-pPHEV-H2020-MSCA-IF-2015. The work of L. Hu was supported by the National Natural Science Foundation of China project under Grant 51875049. Recommended for publication by Associate Editor R. Zane. (Corresponding authors: Changfu Zou and Xiaolin Tang.) X. Hu is with the State Key Laboratory for Mechanical Transmission Department of Automotive Engineering, Chongqing University, Chongqing 400044, China, and also with the Advanced Vehicle Engineering Centre, Cranfield Uiv-ersity, MK43 0AL Cranfield, U.K. (e-mail: xiaosonghu@ieee.org).