Design and Evaluation of a TIDDD Controller with Gorilla Troops Optimization in FES Systems

Functional Electrical Stimulation (FES) plays a critical role in neurorehabilitation by enabling motor function in individuals with paralysis or neurological disorders. In this study, a mathematical model of the FES system is developed and simulated within the MATLAB/Simulink environment. For the control of the system, a novel controller architecture known as the Tilt-Integral-Triple Derivative (TIDDD) controller—an extended form of the TID (Tilt-Integral-Derivative) controller—is proposed. The controller parameters are optimized using the Gorilla Troops Optimization (GTO) algorithm, a natureinspired metaheuristic approach. The performance of the proposed control strategy is evaluated using the Integral of Time-weighted Absolute Error criterion as the objective function. Comparative analysis with existing studies demonstrated that the proposed TIDDD-GTO approach significantly improves system performance and offers an effective control solution for the FES applications.