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The stability of standing in humans is a complex process that leads tomaintaining the upright position against external disturbances. Balance controlduring standing is of vital importance for humans in daily life. An issue thatis still not clearly understood is which control mechanism the central nervoussystem uses to maintain stability. In the rehabilitation of standing function,the coordination pattern between the angles of the leg joint of a healthyperson should be restored. For example, one of the rehabilitation methods isfunctional electrical stimulation. In the work that was mainly done in thecontrol of standing balance with functional electrical stimulation, the problemof the optimal pattern using the phase space was not mentioned at all, and aseries of predetermined desired curves were assigned to the joints, and thecontroller only used these curves. followed, while the origin of these curvesare not real patterns. Therefore, the main goal of this project is to design aperiodic controller based on phase space. In such a way that a mapping relatedto standing is detected first, then a feedback controller is designed so thatit is activated only when the system state space curves find a significantdistance from the detected mapping, then the feedback controller is activated,and it adjusts the control signal so that the system state space curves comeclose to the detected mapping.

Providing a Periodic Control Solution for Balance Control While Standing Using a Pendulum-Based Approach