This work aims to control the human gait of a robotic exoskeleton for the lower limbs, based on the biomechanics of hip and knee joint movements. The mathematical modeling of a double pendulum was adopted to represent the cycle developed during the gait phases, since it is a simple structure that adequately represents the leg swing. The system was modeled from its kinematic equations. The implementation and validation were performed using the platform Simulink, from Matlab. Different scenarios were tested with the same values for the PID gains Kp, Ki and Kd, changing only the human s height. The simulation s result appoints that although the PID is a classic controller for linear sistems, its tuning was suitable for users with different heights.