It is important to evaluate closed-loop FES (functional electrical stimulation) control systems using standard time- and frequency-domain performance metrics to facilitate the discussion of results between research groups. Moreover, uniform reporting of the performance of control methods expedites the process of developing clinically useful controllers by concentrating research efforts on promising control designs. In this article, we have focused on FES applications that benefit individuals who have spinal cord injury. However, this technology is also used for rehabilitation after stroke and traumatic brain injury and can potentially be useful for managing the effects of other neuromuscular diseases and conditions.