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. Author manuscript; available in PMC: 2015 Apr 7.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2013 Jun 4;21(5):840–848. doi: 10.1109/TNSRE.2013.2264920

Figure 3.

Figure 3

Stability radius across all stable feedback gains at the nominal stance width. The solid lines giving a D-shaped boundary encloses the range of all stable feedback gains at the nominal stance width (S/W=1.0). Shaded intensity represents the value of the stability radius for each stable gain pair. Lighter values have greater stability radius and resulted in system behavior that was less sensitive to parameter variations.