Table 2:

Control gains to stabilize walking model with minimal control effort. At heelstrike, the deviation of the state from the limit cycle in all 6 dimensions represents the state of the discrete system. Each row of the table shows the gains using a given control mechanism: using lateral foot placement only, external foot rotation only, or both lateral foot placement and external foot rotation in a multi-input controller.

	gains, K =
Controller	$[K_{\Delta q_{\text{roll}}}$	$K_{\Delta q_{\text{stance }}}$	$K_{\Delta q_{\text{swing}}}$	$K_{\Delta {\dot{q}}_{\text{roll}}}$	$K_{\Delta {\dot{q}}_{\text{stance}}}$	$K_{\Delta {\dot{q}}_{\text{swing}}}{]}^T$
Lateral placement	−1.9664	−0.2210	−0.0121	−2.0901	−0.2753	−0.0007
Foot rotation	−4.3512	−0.4891	−0.0267	−4.6248	−0.6091	−0.0016
Lateral placement	−0.9757	0.2182	0.0500	−1.1258	0.3720	−0.0086
and Foot rotation	−2.0726	0.0694	0.4961	−2.1707	−0.8156	0.0612