Abstract
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 [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.
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Fei, M., Wei, L., Yang, T. (2007). Robust Stability of Human Balance Keeping. In: Li, K., Li, X., Irwin, G.W., He, G. (eds) Life System Modeling and Simulation. LSMS 2007. Lecture Notes in Computer Science(), vol 4689. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74771-0_7
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DOI: https://doi.org/10.1007/978-3-540-74771-0_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74770-3
Online ISBN: 978-3-540-74771-0
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