Efeitos de Realimentação Aplicado ao Movimento de Articulação do Joelho em Pacientes Paraplégicos

Abstract

This course conclusion work, aims to analyze the effects of feedback in a closed loop control system, titled Movement of Knee Joint in Paraplegic Patients. For this purpose, the modern control theory is used, that is, the representation in spaces of states. The control theory used seeks to minimize the amount of energy in said device. Since it is equipped with equipment that consume energy. For this, the design of the Quadratic Linear Regulator (LQR) is used, indicated tool for this purpose. This controller has the difficulty of solving the Ricatti Algebraic Equation (EAR), and one of the great challenges of modern control theory is the selection of state and input weights of said system (Q and R). The LQR design has attractive robustness properties which are the infinite gain margins and phase margin 60◦ . The analysis of the results is done using the Matlab computational tool, in the domain of time and in the frequency domain, and for time domain, these are evaluated according to the performance indexes of the Responses to a unit step excitation and in the frequency domain, gain margin and phase margin