Analysis of the Results of Stabiolmetric Tests with a Stepwise Input Action in the Context of the Mechanics of Controlled Systems

详细

Abstract—Problems of optimal control were analyzed for a human motion model for stabilometric tests where the posture changes under a stepwise input action. The presence of a prominent “swing” and an “overshoot” are characteristic of the center-of-pressure trajectories recorded in the test. A one-dimensional inverted pendulum model was used in the study. The solution of the optimal control for the inverted pendulum motion controlled by coupling torque was put in correspondence with the test results. The problems of optimal speed-of-response control and linear–quadratic regulator were considered. The solution of these optimum problems was compared with the stabilometric test results. A modified algorithm was proposed for stabilometric data processing. This motion was shown to reach a stable motor pattern. The swing and overshoot were found to correspond to the acceleration and deceleration stages, respectively.