Phase-lead ILC based electrode array stimulation using reduced input subspace

An iterative learning control (ILC) approach is developed for electrode array based functional electrical stimulation. Building on the `phase-lead ILC´ form that has proved clinically effective with single electrodes, the first principled extension to multivariable systems is undertaken, resulting in a set of update laws which require minimal plant information that can be identified in a short initial steady-state test procedure. To further reduce the amount of model information required, a reduced input subspace is embedded in the ILC update. Experimental results using a 24 element electrode array confirm efficacy of the proposed approach for clinical practice.