<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1665-6423</journal-id>
<journal-title><![CDATA[Journal of applied research and technology]]></journal-title>
<abbrev-journal-title><![CDATA[J. appl. res. technol]]></abbrev-journal-title>
<issn>1665-6423</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Instituto de Ciencias Aplicadas y Tecnología]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1665-64232022000500576</article-id>
<article-id pub-id-type="doi">10.22201/icat.24486736e.2022.20.5.1920</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Clinical trajectory control for lower knee rehabilitation using ADRC method]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ahmed]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
<xref ref-type="aff" rid="Aaf"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Humaidi]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sabah]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Mustansiriyah University Computer Engineering ]]></institution>
<addr-line><![CDATA[Baghdad ]]></addr-line>
<country>IRAQ</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,University of Technology Control and System Engineering ]]></institution>
<addr-line><![CDATA[Baghdad ]]></addr-line>
<country>IRAQ</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,University of Technology Computer Engineering ]]></institution>
<addr-line><![CDATA[Baghdad ]]></addr-line>
<country>IRAQ</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>00</month>
<year>2022</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>00</month>
<year>2022</year>
</pub-date>
<volume>20</volume>
<numero>5</numero>
<fpage>576</fpage>
<lpage>583</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1665-64232022000500576&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1665-64232022000500576&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1665-64232022000500576&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract The design and study of the Active Disturbance Rejection Control (ADRC) approach for control and disturbance rejection for lower knee rehabilitation utilizing a domestic exoskeleton system are provided in this paper. Linear ADRC (LADRC) and Nonlinear ADRC (NADRC) are two controllers that are considered for control purposes based on the structure of ADRC. The contrasts between them are thoroughly discussed in this work. The LADRC is made up of a tracking differential (TD), a linear proportional derivative (LPD) controller, and a linear extended state observer (LESO), whereas the NADRC is made up of the same LESO but with a nonlinear PD (NPD) and a modified optimized TD (MTD). In terms of robustness against the ability to reject applied disturbances, a comparison of LADRC and NADRC has been done. The fundamental challenge with ADRC is that its constituent parameters must be fine-tuned. Grey Wolf Optimizer (GWO) has been proposed for tuning the parameters of ADRC to have the least amount of error variation in order to improve the controlled system's dynamic performance. When a prescribed disturbing torque is applied, the results of a MATLAB simulation show that the LADRC has greater disturbance rejection capabilities than the NADRC.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Exoskeleton system]]></kwd>
<kwd lng="en"><![CDATA[ADRC]]></kwd>
<kwd lng="en"><![CDATA[nonlinear calculus]]></kwd>
<kwd lng="en"><![CDATA[disturbance rejection]]></kwd>
<kwd lng="en"><![CDATA[robustness]]></kwd>
</kwd-group>
</article-meta>
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