Robust Stability of Human Balance Keeping

Fei, Minrui, Wei, Lisheng and Yang, Taicheng (2007) Robust Stability of Human Balance Keeping. In: Life System Modeling and Simulation (Lecture Notes in Computer Science). Springer, pp. 58-66. ISBN 978-3-540-74770-3

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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.

Item Type: Book Section
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Tai Yang
Date Deposited: 06 Feb 2012 18:42
Last Modified: 03 Apr 2012 15:26
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