Add to ORKGguidance and criticism, continuous support and understanding throughout my research and study. I would also like to thank my colleagues in Cooperative Systems Lab, especially Mr. Cheng Chee Kong and Mr. Ng Wee Kiat for their help and interaction. I am also thankful to staff in Dynamics Lab like Ms. Priscilla, Ms. Amy, Mr. Cheng, and Mr. Ahmad for their assistance. Last but not least, I would like to thank my family for their encouragement and support. Without the love and backing from all of you, I would not be able to finish the research