Fig. 2

The hVOR performance with failed time-delay compensation, traditional methods. The figure shows a poor response of the eye rotation to head rotation with traditional controller or. The eye is responding to a delayed head velocity. And as result, the eye velocity (Blue solid line) is oscillating around the head velocity (Red dashed line), see expanded view. This oscillatory behavior is as if the eye is executing a corrective movement (saccades) to compensate for the delay head velocity value. However, it often overshoots the target head velocity. This oscillatory behavior continues until the hVOR fails to do its job completely. The same behavior in Figure could also be the result of a damaged sensory state predictor. In this case even if the time-delay estimation is working properly the state predictors fails to predict the correct current state. As a result the hVOR will be plagued with oscillations and instability