Introduction 
The focus of this document is on the controller for the knee electro-hydraulic actuator system developed and used in the REKLAB. This document can also be used as a reference for the other actuator control systems (ankle, elbow, etc..) because of some similarities in the way they are setup.
This document will start with a quick description of the knee actuator setup
at the system interface level. An overview on how to start a knee experiment is
then provided. Next, an overview of the controller setup will be presented. The
structure, configuration, compilation methods and running procedure of the
controller will then be discussed in detail. Finally the performance of the
current control system, as well as recommendations on how to improve it will be
looked at.
