Control synthesis of single link biomechanical model using feedback linearization

Postural stability is the capability of an individual to maintain the position of a human body in upright posture, more specifically to balance its center of mass (COM) within precise limitations of physiological space and stability limits. In this paper, we study an application of nonlinear control of a single link biomechanical model relating to postural stability. We construct feedback compensator to regulate and estimate the movement of biomechanical model for postural stability and fall prevention. The compensator design utilizes the strength of feedback linearization method to regulate the 2nd order system equations. Moreover, feedback estimator mimics a nonlinear estimation of central-nervous-system (CNS) to investigate the stability of biomechanical movements. We simulate this scheme in MATLAB/Simulink environment and observe that the compensator with optimal gains resulted in optimized torques in the presence of noisy measurements from joint sensor.