Investigation of 2DOF PID Controller for Physio-Therapeutic Application for Elbow Rehabilitation

The aim of this work is to evaluate the output a two-degree freedom (DOF) proportional integral derivative (PID) controller for controlling elbow flexion and extension on an upper limb rehabilitation robot existing model. Since usage increasing dramatically because human impairment, 2DOF has been proposed in as suitable controller. PID offers set-point-weight features and, hence, fast removing disturbance from system ensuring stability. Importantly, parameters are unknown work, black-box model approach taken into consideration, using MATLAB System identification toolbox estimate best-fitted estimated then coupled with MATLAB/Simulink environment that, upon successful simulation works, leads, finally, hardware implementation. Three different amplitudes sinusoidal current signals, such 0.3 amps, 0.2 0.1 applied measurements. Considering patients’ physical conditions. In transient response, settling time, negligible tracking error 0% overshoot undershoot.