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276 Control theory in biomedical engineering
The stride time transient responses of four control system models are
plotted in Fig. 5. As shown, stride time of c_TL reached its desired value
more quickly compared to the others.
The stride length transient responses of four control system models are
plotted in Fig. 6. The stride length of c_TL reached its desired value more
quickly compared to the others. In addition, c_VP did not approach its
desired value.
The stride velocity transient responses of four control system models are
plotted in Fig. 7. Stride velocity c_TLVP reached its desired value less
quickly than c_TLV.
The stride position transient responses of four control system models are
plotted in Fig. 8. Only c_TLVP and c_VP closed to the proper value of the
position. c_TLVP closed to the desired value much more quickly than c_VP.
1.15 1.15
1.1 1.1
Stride time 1.05 Stride time 1.05
1 1
0.95 0.95
5 10 15 20 25 30 35 40 45 50 5 10 15 20 25 30 35 40 45 50
(A) Stride number (B) Stride number
1.15 1.3
1.25
1.1
1.2
Stride time 1.05 Stride time 1.15
1.1
1.05
1
1
0.95
0.95
5 10 15 20 25 30 35 40 45 50 5 10 15 20 25 30 35 40 45 50
Stride number
Stride number
(C) (D)
Fig. 5 Transient responses of stride time (plotted by blue “.” (dark gray “.” in print
version)) and its desired values (plotted by red “*” (light gray “*” in print version)) are
shown in (A), (B), (C), and (D) for c_TL, c_TLV, c_TLVP, and c_VP, respectively.