Robust control of electrically-stimulated muscle using polynomial H∞ design

Abstract The work is concerned with the design and experimental evaluation of robust feedback systems for the control of ankle moments generated by the electrical stimulation of the human calf muscle. This is an important part of the problem of designing feedback controllers for stabilising the upright posture of people with spinal cord injuries while they stand. Robust controllers are designed using the polynomial approach to mixed sensitivity H ∞ feedback design. The approach was found to give a convenient and transparent way to design for performance. Moreover, the method gives a useful indicator of the robustness properties of a given design. This is highly useful for experimental controller “tuning”.

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