A system to aid and control the walk of a partially disabled person could use automatic control of the walking motion [25]. One model of a system that is open-loop unstable is shown in Figure DP7.6. Using the root locus, select K for the maximum achievable ζ of the complex roots. Predict the step response of the system, and compare it with the actual step response.
Figure DP7.6
Automatic control of walking motion.

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Controller Dynanics Rly) Leg position put K(s 2) Acuai sts 1) positinm