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Seminar on "LQR-PID Controller Design for a Biomechanical Model of Human Postural Control" by Prof. Kamran Iqbal, Professor of Electrical and Computer Eng. at Univ. of Arkansas
  • Building 22 Room 127

  • Feb. 5, 2025 - Feb. 5, 2025

  • 3:15 p.m. - 4 p.m.

Speaker:

Professor Kamran Iqbal
Professor of Electrical and Computer Engineering
University of Arkansas at Little Rock, USA

Abstract:

Linear Quadratic Regulator (LQR) control design technique is well established in the optimal control theory and has been widely used. The PID control is a general purpose control strategy popular in industrial process control. In this study, we propose the design of an LQR tuned PID controller for a physiologically motivated model of human postural control. The model comprises a rigid inverted pendulum supported by dual muscle-like actuators. The model employs proprioceptive feedback from muscle spindle (MS) and Golgi tendon organ (GTO) with physiological latencies in neural pathways. The muscle activation commands are generated by an optimally tuned LQR-PID controller. Computer simulated model response to reference and disturbance inputs demonstrates the efficacy of the proposed controller for the delay system. The LQR-PID tuning technique can be extended to more complex neuro-mechanical models of human movement.

Speaker Bio:

Professor Kamran Iqbal obtained his BE in Aeronautical Engineering from NED University, and his MSEE, MBA and Ph.D. in Electrical Engineering from the Ohio State University. He has held academic appointments at College or Aeronautical Engineering, GIK Institute of Engineering Science and Technology, Northwestern University, California State University at Fullerton, University of California, Riverside, University of California, Irvine, and University of Arkansas at Little Rock where he currently serves as Professor of Electrical and Computer Engineering. His research interests include biomechanical models of human movement, biomedical signal and image processing, renewable energy, mechatronics, and machine learning. He is a senior life member of IEEE (USA), and member of IET (UK), ASEE and Sigma Xi. He also serves as program evaluator (PEV) for ABET Engineering Accreditation Commission (EAC). He has co-authored three monographs, fifty journal papers and over one hundred conference publications with over 2700 citations.

All Faculty, Researchers, and Graduate Students are invited to attend.