Robust control of functional neuromuscular stimulation system by discretetime iterative learning

High-order discrete-time P-type iterative learning controller (ILC) is proposed for the robust tracking control of the functional neuromuscular stimulation (FNS) systems, i.e., control of the electrical stimulation of human limb stimulation of the human limb which is no longer under voluntary control by the Central Nervous System (CNS). Control input saturation, which represents the maximum allowable stimulation pulse width (PW), is considered. A detailed musculoskeletal model is given for the simulation studies. The effectiveness of the proposed control scheme is demonstrated by simulation results. Some experimental results are presented. Finally, some of the theoretical challenges are introduced to stimulate further theoretic investigation in learning control of FNS systems.

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