This paper presents the modeling, simulation and control of a human gait system, which consists of the modeling of a leg by means of Euler’s classical mechanics and Lagrange’s formalism, where the equations of motion of the joint are obtained both of the hip as of the knee and the solution of these. In addition, a state feedback control was implemented and the controller gains were determined by means of the Ackerman formula, based on the equations of motion rewritten in state space and simulated in simulink, where the behavior of the system can be observed with control.