A Generalized Proportional Integral Controller for the Robust Perturbation Rejection in an Ankle Rehabilitation Machine

In this paper a Generalized Proportional Integral (GPI) controller is designed for the efficient rejection of a completely unknown perturbation input in an ankle rehabilitation machine. In this study an ankle rehabilitation virtual prototype is presented which provide a dorsi-plantarflexion movement with a GPI controller that bring a softly movement. Some numerical simulations are included to illustrate the dynamic performance of the GPI controller using the virtual prototype.