FES cycling robust PID control strategies and stimulation

The method is based upon the experimental data of three spinally injured paraplegic patients, by identifying the muscle responses from the data and then achieving plant to be controlled mathematical models. So robust PID controlled algorithm is applied to control of FES cycling speed to the aim of designing robust PID speed controller. The simulation results demonstrate that FES cycling can implement the ability of automatic track to arbitrary speed profiles and has strong performance of disturbance rejection and robustness. The controlled algorithm provides a new robust control strategy for FES cycling.