Evaluation of The Old People Balance Control Using Delayed Parallel Model

Falling and lack of control are some of the most essential problems of elderly people's lives. This phenomenon can be studied and modelled by mathematical equations. Besides, several models have been proposed to simulate the human body in recent years. The reverse pendulum is one of the most crucial procedures of these models. In this paper, human balance control system - similar to a two-legged robot- is examined. First, the mathematical equations of the human controller system are determined by the concept of a reverse pendulum model and indicate this is a parallel time delay system model. Then, the stability conditions of this model are expressed as a matrix linear inequality, with choosing the appropriate Lyapunov function. Finally, the performance and operation efficiency of the balancing system is determined by simulating a variety of time delays which creates the proper balance.