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. Author manuscript; available in PMC: 2009 Dec 1.
Published in final edited form as: Biol Cybern. 2008 Nov 5;99(6):503–516. doi: 10.1007/s00422-008-0258-5

Fig. 3.

Fig. 3

Proposed controller structure. The system stands for the ankle-subtalar joint musculoskeletal model. ISSC is the inverse steady state controller. The Feedforward controller is a multilayer perceptron network (MLP) and feedback controller is PID controller. (a) type I controller structure: Both the feedforward and the feedback control are applied through ISSC. (b) type II controller structure: the feedforward control is applied through ISSC and feedback control is applied directly to the system.