Biomedical Control | ELEC2226 | University of Southampton

Module overview

This module introduces powerful tools for analysis and control of linear continuous-time systems. It then shows students how they can be applied to a wide range of physiological processes, providing a full understanding of the human body and the internal control systems that support life. This knowledge is then used by students to investigate and design biomedical control systems to replace or assist damaged or weak physiological processes.

The theoretical aspects covered include Laplace Transforms, Block Diagrams, Stability, Sensitivity, Root Locus Analysis, Bode Plots, Stability in the Frequency Domain, and the Nyquist Stability Criterion. The biomedical processes studied include Regulation of Blood Pressure, modelling of Lung Dynamics, modelling of Skeletal Muscle reflexes, Heart and Systemic Circulation, Regulation of Glucose and many more.

This module includes course work assignments covering both analysis and biomedical applications. It also includes labs which provide students with (1) experience of implementing a practical control system in the form of an inverted pendulum, and (2) measuring electromyographic signals from muscles, and using them to control an assistive exoskeleton device. These labs underpin the theoretical material provided during lectures and tutorials on control system design for biomedical systems.

Aims and Objectives

Learning Outcomes

Subject Specific Intellectual and Research Skills

Having successfully completed this module you will be able to:

Engage proficiently with the more advanced signal processing and control courses.
Program control system design and analysis problems in MATLAB.
Appreciate the latest research methods being undertaken in biomedical rehabilitation and assistive technology.
Understand how control systems and signal processing techniques are applied in biomedical technology.
Apply time and frequency domain techniques for the analysis of linear systems of any order.
Use MATLAB as a design and simulation tool.
Analyse and design simple linear control systems.

Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

The principles of control theory.
The techniques used to design and analyse the performance of control systems.
Application of hardware, signal processing techniques and control systems design in biomedical technology.
Research undertaken in biomedical rehabilitation and assistive technology.

Transferable and Generic Skills

Having successfully completed this module you will be able to:

Use the control point of view to analyse biomedical problems.

Syllabus

Control (26 lectures):

Recap of the Laplace Transform and its properties, including initial and final value theorem
Differential equations and transfer functions
Characteristic equation
Block diagram notation
Use of Matlab and other CAD tools.
Feedback Control Systems
Open loop v closed loop
Stability
Sensitivity
Disturbance rejection
Transient response
Steady state error
Root Locus Analysis
Bode Plots
Gain and Phase Margin, Bandwidth
Estimation of system transfer functions
Stability in the Frequency Domain
Nyquist Stability Criterion
Gain and Phase Margin
Controller Design
Common control methodologies
PI, PD and PID, Pole placement, Pole-zero cancellation
Compensators, Phase Lead and Lead-Lag
Benefits and Disadvantages - the need for other control strategies

Application of control theory and signal processing in biomedical engineering (10 lectures):

Overview of control theory and signal processing techniques within biomedical applications.
Overview of current state of the art control techniques for rehabilitation and assistive technology.
Fundamentals of biomedical electronics and signal processing, to include discussion of:

Electromyography (EMG)

Electroencephalography (EEG)

Biomechanical kinematic and kinetic signals

Functional Electrical Stimulation (FES)

with special reference to their application in control systems design for rehabilitation and assistive technology.

Research case study: application of control techniques in lower limb orthoses (e.g. for drop foot)
Research case study: application of control techniques in upper limb stroke rehabilitation, and in Parkinsonian/Multiple Sclerosis tremor suppression.

Learning and Teaching

Study time
Type	Hours
Tutorial	12
Lecture	36
Specialist Laboratory	9
Total study time	57

Resources & Reading list

Textbooks

R. Shadmehr and S. P. Wise (2004). The Computational Neurobiology of Reaching and Pointing: A Foundation for Motor Learning (Computational Neuroscience). MIT Press.

D. A. Winter (1990). Biomechanical and Motor Control of Human Movement. (2nd ed.). New York: Wiley & Sons.

G. Clifford, F. Azuaje, F. and P. McSharry, P. (eds.) (2006). Advanced Methods and Tools for ECG Data Analysis. Norwood, MA: Artech House.

R. C. Dorf and R. H. Bishop. (2005). Modern Control Systems. Pearson Prentice Hall.

B. M. Nigg, and W. Herzog. (1994). Biomechanics of the Musculo-skeletal System. New York: Wiley & Sons.

R. Rangayyan (2002). Biomedical Signal Analysis: A Case-Study Approach. Wiley InterScience.

Soderberg (eds. 1992). Selected Topics in Surface Electromyography for Use in the Occupational Setting: Expert Perspectives NIOSH (document 91-100).

T. F. Quatieri. (2001). Discrete-Time Speech Signal Processing: Principles and Practice. Upper Saddle River, NJ: Prentice-Hall.

Assessment

Summative

This is how we’ll formally assess what you have learned in this module.

Breakdown
Method	Percentage contribution
Final Assessment	75%
Continuous Assessment	25%

Referral

This is how we’ll assess you if you don’t meet the criteria to pass this module.

Breakdown
Method	Percentage contribution
Set Task	100%

Repeat

An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.

Breakdown
Method	Percentage contribution
Set Task	100%

Repeat Information

Repeat type: Internal & External