LAUSR

Abstract In this paper a Lyapunov-based model predictive control (LMPC) method to control knee extension during an input-delayed neuromuscular electrical stimulation is developed. This method incorporates a contractive constraint under a delay compensation control law that achieves system stability despite an unknown constant input delay and imperfectly estimated model parameters The simulations were performed to compare the LMPC method with the delay compensation control law. Robustness of the LMPC method and the boundedness of the LMPC inputs are depicted.