Functional electrical stimulation (FES) is used to excite paralysed muscles that would otherwise be uncontrollable by paraplegic patients. Consequently, the patient could recover partially some of lower limb functions improving the cardiovascular system, increasing oxygen uptake and bettering the whole quality of life. In this paper, we apply a control design based on a Higher Order Sliding Mode to a complex physio-mathematical muscle model. This model is based on macroscopic Hill and microscopic Huxley concepts. The main goal concerns the prediction of the needed pattern stimulation (current and pulse width), which will extend the overall performances and defer the muscle fatigue as much as possible. The controller is mathematically computed and shown to provide satisfactory stability and tracking errors. Its efficiency is illustrated with the control of the knee joint angle under a co-contraction approach.