Name
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. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/978-3-540-74771-0_7 | LSMS (2) |
Keywords | Field | DocType |
controller parameter,robust stability,control mechanism,closed loop system,recent paper,human balance,paper study,pid controller,central nervous system,gain margin,poor balance | Reduced derivative,Inverted pendulum,Control theory,PID controller,Control theory,Poor balance,Control engineering,Engineering,Gain margin,Computation | Conference |
Volume | ISSN | ISBN |
4689 | 0302-9743 | 3-540-74770-2 |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Minrui Fei | 1 | 1003 | 117.54 |
| Lisheng Wei | 2 | 8 | 3.02 |
| Tai-Cheng Yang | 3 | 288 | 19.73 |