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Robust Stability of Human Balance Keeping
chapterposted on 2023-06-07, 21:01 authored by Minrui Fei, Lisheng Wei, Tai Yang
Despite its apparent simplicity, the nature of the control mechanisms that allow humans to stand up is still an object of great research interest [1-9]. In a recent paper , a PID controller with a sensory delay is proposed to model the central nervous system for the control of balance keeping; and based on experiment data it is suggested that ageing people with poor balance keeping ability can be explained by a reduced derivative gain in the PID controller. Using the models presented in , this paper studies a further topic: robust stability of human balance keeping. Computation methods to find the ranges of the controller parameters for which the closed loop system is stable, and with a given stability phase or gain margin, are presented. An example is used in the paper to demonstrate the application of these methods.
Book titleLife System Modeling and Simulation (Lecture Notes in Computer Science)
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- Engineering and Design Publications
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