In this paper, the imitation of central nervous system control of human lower limb is done and the controller simulation for ankle joints is presented. The CNS control is applied to multi-joints coordination relating to the problem of human postural balance. This control strategy was developed with aid of state-space model of the lower extremity of human in order to reconstruct natural human motion and to stabilize the human posture. Based on real model experiments, which simulates the human motion process in real time, we present the methodology of actual target values obtaining which correspond to position of human upright standing.
