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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. 4.

Fig. 4

Control structure with desired coactivation level input. ISSCn is n-th inverse steady state controller. Each ISSC is built with different coactivation level. FFn is feedforward controller for ISSCn. The coactivation controller interpolates the output of ISSCs based on the desired coactivation reference trajectory. (a) type I controller. The sum of feedback controller output and FFn output is the input to ISSCn. (b) type II controller. Only feedforward controller output is fed through ISSC and feedback control is directly applied to the system.