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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. 9.

Fig. 9

Tracking performance of (a) type I and (b) type II controller in the presence of external disturbance. The external disturbance with the magnitude of 50N is applied at a point 20 cm from the subtalar joint along the foot as shown in Fig. 1 between 5 seconds and 15 seconds. As the total activation level increases from low level (0.25) to high level (1.00), the effect of external disturbance on the output error is reduced. Type II controller is more robust against external disturbance because the output of feedback is not restricted to the subspace of ISSCs.