Control for Isokinetic Exercise with External Disturbance

Figure 6

Simulation results under 90°/s. (a) Elbow joint torque. (b) Comparison between reference speed, speed response of the FOFPID controller, and speed response of the PID controller. (c) Error between reference speed and speed response of the FOFPID controller. (d) Error between reference speed and speed response of the PID controller.

(a)

(b)

(c)

(d)