Control design for coordinated oscillations with central pattern generator

This paper proposes a method for designing a feedback controller to yield an oscillation of a prescribed profile as a stable limit cycle of the closed-loop system. The plant is assumed linear, but the controller is necessarily nonlinear to achieve orbital stability of the oscillation. The controller structure is inspired by central pattern generators - neuronal circuits for rhythmic body movements during animal locomotion. Design conditions are obtained for the neuronal interconnection matrix through the method of multivariable harmonic balance. A numerical example demonstrates utility of the design method.