1 Correction to: Nonlinear Dyn https://doi.org/10.1007/s11071-019-05123-1

In the initial online version of the article, the poor alignment in the typeset matrices in Equations (44), (60), (61), (62), (70), (71), (81), (84), (85), (86), and (90) may have caused misinterpretation as vectors. The original article has been corrected.