Figure 1.

(A) The CL DBS framework. The spike times of model neurons in the GPi were calculated, and the beta band power of these spike times was used as the feedback signal y (k). The error term e (k) between the desired beta power y_sp (k) and actual value y (k) was input to the PI controller to calculate the stimulation frequency u (k). The stimulation signal I_dbs (t) delivered to the cortex-basal ganglia-thalamus network model was subsequently determined. (B) The transformed linear system of the CL DBS system. This transformed linear system was used to determine the appropriate parameters for the PI controller, and the PI parameters were constant once calculated.