Robust Control of the Knee Joint Angle of Paraplegic Patients considering Norm-Bounded Uncertainties

Nilson Moutinho dos Santos, Ruberlei Gaino, Márcio Roberto Covacic, Marcelo Carvalho Minhoto Teixeira, Aparecido Augusto de Carvalho, Edvaldo Assunção, Rodrigo Cardim, Marcelo Augusto Assunção Sanches
2015 Mathematical Problems in Engineering  
A proposal for the knee position control design of paraplegic patients with functional electrical stimulation (FES) using control systems and considering norm-bounded uncertainties is presented. A state-space representation of the knee joint model of the paraplegic patient with its nonlinearity is also demonstrated. The use of linear matrix inequalities (LMIs) in control systems with norm-bounded uncertainties for asymptotic stability is analyzed. The model was simulated in the Matlab
more » ... t. The matrixKof state space feedback was obtained through LMIs.
doi:10.1155/2015/736246 fatcat:x7gn4koxgfb4zfwgo2kjwisvha