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To compensate for significant time delays in the control of human bipedal stance, it was suggested that a feed-forward control mechanism is needed to generate a preceding motor command to the body sway position observed in quiet standing. In this article, we present evidence that a feedback proportional-derivative (PD) controller can effectively generate a desired preceding motor command. We also discuss the following characteristics of the proposed PD controller: (1) the level of robustness of the controller with respect to neurological time delays and (2) how well the controller replicates the system’s dynamics observed in experiments with able bodied subjects, i.e. how well the controller generates the observed preceding motor command. Human quiet stance was simulated using an inverted pendulum model regulated by a PD controller. The simulations were used to calculate the center of mass (COM …