Abstract
The control of a one degree of freedom exercise machine is considered. The control objective is to cause the human user to exercise at a rate which optimizes a prescribed weighted power criterion. In this paper we formulate a self-optimizing control strategy for the parameter update and the specification of an optimal reference for the passive dynamic damping controller introduced in (Li and Horowitz, 1996). Experimental results are presented which show the effectiveness of the proposed control scheme.
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