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Haugen, F. (2010) Ziegler-Nichols’ Open-Loop Method. TechTeach, 1-7.
http://techteach.no/publications/articles/zn_closed_loop_method/zn_closed_loop_method.pdf

has been cited by the following article:

• TITLE: ANFIS-PID Control FES-Supported Sit-to-Stand in Paraplegics: (Simulation Study)

  AUTHORS: Rufaida Hussain, Rasha Massoud, Moustafa Al-Mawaldi

  KEYWORDS: Adaptive Neuro-Fuzzy Inference System (ANFIS); Functional Electrical Stimulation (FES); Sit to Stand; Model; Simulation

  JOURNAL NAME: Journal of Biomedical Science and Engineering, Vol.7 No.4, March 14, 2014

  ABSTRACT: Adaptive Neuro-fuzzy Inference System (ANFIS) controller was designed to control knee joint during sit to stand movement through electrical stimuli to quadriceps muscles. The developed ANFIS works as an inverse model to the system (functional electrical stimulation (FES)-induced quadriceps-lower leg system), while there is a proportional-integral-derivative (PID) controller in the feedback control. They were designated as ANFIS-PID controller. To evaluate the ANFIS-PID controller, two controllers were developed: open loop and feedback controllers. The results showed that ANFIS-PID controller not only succeeded in controlling knee joint motion during sit to stand movement, but also reduced the deviations between desired trajectory and actual knee movement to ±5°. Promising simulation results provide the potential for feasible clinical application in the future.