Laplace transform used in acceleration feedback to human balancing model

This study analyses PDA feedback, or delayed proportional derivative acceleration using a human balancing nonlinear model by applying Laplace Transform. The PDA controller improves local stability even for large feedback delay which is a predictive controller where the actual state is predicted based on the delayed angular position, velocity, and acceleration. The feedback controller of the Human Balancing Problem can be expressed in terms of a Neutral Delay Differential Equation where delay occurs in the second derivative of the body angle. Due to their prolonged reaction time delay, older inactive adults exhibit various characteristics of human balancing failure.