Page 304 - Control Theory in Biomedical Engineering

1.35
1.35
1.3
1.3
1.25
Stride length 1.2 Stride length 1.25
1.2
1.15
1.15
1.1 1.1
1.05 1.05
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
1.4 1.45
1.35 1.4
1.35
1.3 1.3
Stride length 1.25 Stride length 1.25
1.2
1.15 1.2
1.15
1.1 1.1
1.05 1.05
5 10 15 20 25 30 35 40 45 50 5 10 15 20 25 30 35 40 45 50
(C) Stride number (D) Stride number
Fig. 6 Transient responses of stride length (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.

1.3
1.26
1.24
1.25
1.22
1.2
Stride velocity 1.15 Stride velocity 1.16
1.2
1.18
1.14
1.12
1.1
1.1
1.08
1.06
1.05
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
1.25 1.25
1.2 1.2
Stride velocity 1.15 Stride velocity 1.15

1.1 1.1

1.05
1.05
5 10 15 20 25 30 35 40 45 50 5 10 15 20 25 30 35 40 45 50
(C) Stride number (D) Stride number
Fig. 7 Transient responses of stride velocity (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.