Inspec keywords: control system synthesis; humanoid robots; transfer functions; servomechanisms; observers; open loop systems; legged locomotion; three-term control; robust control

Other keywords: robust controller design; inverted pendulum model; proportional-integral-differential controller; ankle joint transfer function; robust method; open-loop transfer function; disturbance observer; bipedal robot; model perturbation effect; robust servocontrol structure; humanoid joint control

Subjects: Control system analysis and synthesis methods; Actuating and final control devices; Mobile robots