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

Hunt, K.J., Jaime, R.P. and Gollee, H. (2001) Robust control of electrically-stimulated muscle using polynomial H-infinity design. Control Engineering Practice, 9(3), pp. 313-328. (doi: 10.1016/S0967-0661(00)00126-X)

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-infinity 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".

• Item Type: Articles
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Hunt, Prof Kenneth and Gollee, Dr Henrik
• Authors: Hunt, K.J., Jaime, R.P., and Gollee, H.
• Subjects: R Medicine > R Medicine (General)
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy; College of Science and Engineering > School of Engineering > Biomedical Engineering
• Journal Name: Control Engineering Practice
• Publisher: Elsevier Science B.V.
• ISSN: 0967-0661