H2 optimal control of a minimal state space realization model of coordinated fingers movement

Analysis of a system and its control design can be greatly simplified while working with lower-order models as compared to high order models. In this paper we analyze a minimal realization biomechanical model of reflexive movement of human finger when the little finger is bent. This is a 6th order minimal state space realization model for movement simulation of two fingers. We developed an H
₂
robust controller to achieve a stable response for the system. We compared responses of the full order state space model and the minimal state space realization model. Parametric uncertainties were added as exogenous inputs and the values were manipulated to get a better controller. Furthermore, we minimized the effects of the disturbances and the impact of the measurement noise and modeling errors by tuning the controller performance. We simulated the model in MATLAB/Simulink for study of stability analysis and performance comparison. Our simulation results demonstrate the applicability of the model towards active prosthetic, and help to understand central nervous system in physiologically coordinated movement and constraint on motor.