# A linear discrete-time extended state observer-based intelligent PD controller for a 12 DOFs lower limb exoskeleton LLE-RePA

> Research article (Mechanical Systems and Signal Processing, 2019) · cited 50× · AI/ML

**Wikidata**: [openalex:W2995444865](https://www.wikidata.org/wiki/openalex:W2995444865)  
**Source**: https://4ort.xyz/entity/a-linear-discrete-time-extended-state-observer-based-intelligent-pd-controller-for-a-12-dofs-lower-limb-exoskeleton-lle-