TELKOMNIKA Telecommunication, Computing, Electronics and Control
Controlling a knee CPM machine using PID and iterative learning control algorithm
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Controlling a knee CPM machine using PID and iterative learning control algorithm
Controlling a knee CPM machine using PID and iterative learning control algorithm
Subject
CPM, ILC, Learning algorithm, PID, Rehabilitation machine
Description
A conventional continuous passive motion (CPM) machine uses simple
controller such as On/Off controller. Some better CPMs use PID controller. These kind of CPMs can not distinguish load different due to the different size of the patient leg. This may cause the CPM no longer follow the trajectory or the angle commands. Meanwhile, each patient may have different scenario of therapy from the others. When progress on the patient exists, the range of the flexion may be increased step by step. Therefore, the treatment can be different in term of the range of flexion from time to time. This paper proposes CPM with hybrid proportional integral derivative (PID) and iterative learning controller (ILC). The system has capability in learning the trajectory tracking.
Therefore, the CPM will be able to follow any load or trajectory changes
applied to it. The more accurate CPM machine can follow the trajectory
command, the better its performance for the treatment. The experiment showed that the system was stable due to the PID controller. The tracking performance also improved with the ILC even there exist some disturbances.
controller such as On/Off controller. Some better CPMs use PID controller. These kind of CPMs can not distinguish load different due to the different size of the patient leg. This may cause the CPM no longer follow the trajectory or the angle commands. Meanwhile, each patient may have different scenario of therapy from the others. When progress on the patient exists, the range of the flexion may be increased step by step. Therefore, the treatment can be different in term of the range of flexion from time to time. This paper proposes CPM with hybrid proportional integral derivative (PID) and iterative learning controller (ILC). The system has capability in learning the trajectory tracking.
Therefore, the CPM will be able to follow any load or trajectory changes
applied to it. The more accurate CPM machine can follow the trajectory
command, the better its performance for the treatment. The experiment showed that the system was stable due to the PID controller. The tracking performance also improved with the ILC even there exist some disturbances.
Creator
Dechrit Maneetham, Petrus Sutyasadi
Source
DOI: 10.12928/TELKOMNIKA.v18i2.14876
Publisher
Universitas Ahmad Dahlan
Date
April 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Dechrit Maneetham, Petrus Sutyasadi, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Controlling a knee CPM machine using PID and iterative learning control algorithm,” Repository Horizon University Indonesia, accessed October 31, 2025, https://repository.horizon.ac.id/items/show/3726.
Controlling a knee CPM machine using PID and iterative learning control algorithm,” Repository Horizon University Indonesia, accessed October 31, 2025, https://repository.horizon.ac.id/items/show/3726.