of the two signal is the input to the wheelchair sys-
tem. A future improvement of the overall system may
include a state estimator at the output of the system,
in order to implement a feedback controller using op-
timal control theory.
ACKNOWLEDGEMENTS
The authors would like to thank the Tshwane Uni-
versty of Technology (TUT) for the financial support,
and also the French South African Institute of Tech-
nology (F’SATI) for providing the necessary tools
permitting to conduct this work.
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