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Robust Stability of Human Balance Keeping
chapter
posted on 2023-06-07, 21:01 authored by Minrui Fei, Lisheng Wei, Tai YangDespite 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 [1], 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 [1], 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.
History
Publication status
- Published
Publisher
SpringerExternal DOI
Volume
4689/2Page range
58-66Book title
Life System Modeling and Simulation (Lecture Notes in Computer Science)ISBN
978-3-540-74770-3Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes