A robust controller for insulin pumps based on H-infinity theory

Kienitz, Karl Heinz; Yoneyama, Takashi

doi:10.1109/10.245631

Cited by 83 publications

(56 citation statements)

References 16 publications

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“…One of the better-known, more effective diabetes control systems is relative proportional control (RPC) [10]. This basic, widely used form of proportional control law is based on the idea of strictly limiting the absolute blood sugar level by applying resisting "forces" (insulin)…”

Section: Relative Proportional Control (Rpc)mentioning

confidence: 99%

“…Whether it is in the area of understanding, modeling or managing diabetes [6,7] years of research in this area has led to no shortage of theoretical solutions [8][9][10][11][12][13][14][15][16][17]. However, due to either the complexity of the proposed implementation, current technological limitations, models that are not physiologically verified, lack of required data, or the cost/complexity of realizing the results, these solutions are not yet practicable.…”

Section: Introductionmentioning

confidence: 99%

“…A more complex, higher performance real-time control example uses model predictive control on a 19th order model of the glucose-regulatory system resulting in a 40% peak reduction and 23% reduction in settling time to basal level [25]. Optimal control using grid search theory, robust H-infinity control, and variable structure controllers have also been studied, each using different models [11,[24][25][26][27][28]. In each case, the focus has been on controlling absolute blood glucose excursion rather than slopes.…”

Section: Introductionmentioning

confidence: 99%

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Active insulin infusion using optimal and derivative-weighted control

Lam

Hwang

Lee

et al. 2002

Medical Engineering & Physics

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Close control of blood glucose levels significantly reduces vascular complications in Type I diabetes. A control method for the automation of insulin infusion that utilizes emerging technologies in blood glucose biosensors is presented. The controller developed provides tighter, more optimal control of blood glucose levels, while accounting for variation in patient response, insulin employed and sensor bandwidth. Particular emphasis is placed on controller simplicity and robustness necessary for medical devices and implants.A PD controller with heavy emphasis on the derivative term is found to outperform the typically used proportional-weighted controllers in glucose tolerance and multi-meal tests.Simulation results show reductions of over 50% in the magnitude and duration of blood glucose excursions from basal levels. A closed-form steady state optimal solution is also developed as a benchmark, and results in a flat glucose response. The impact and tradeoffs associated with sensor bandwidth, sensor lag and proportional versus derivative based control methods are illustrated. Overall, emerging blood glucose sensor technologies that enable frequent measurement are shown to enable more effective, automated control of blood glucose levels within a tight, acceptable range for Type I and Type II diabetic individuals.

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Section: Relative Proportional Control (Rpc)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Active insulin infusion using optimal and derivative-weighted control

Lam

Hwang

Lee

et al. 2002

Medical Engineering & Physics

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“…7 Some of the closed-loop techniques applied in diabetes include PID approximations, 8 model predictive control, 9 ' 10 fuzzy control, 11 and robust control. 12 Semiclosed-loop control has been also evaluated as a means to reduce the peak postprandial glucose levels. 13 All the previous approaches provide unilateral control in which the hormone insulin is used to lower the glucose values, but there is no other counterregulatory mechanism.…”

Section: Introductionmentioning

confidence: 99%

A Simulation Study of an Inverse Controller for Closed- and Semiclosed-Loop Control in Type 1 Diabetes

Rodríguez-Herrero

Pérez-Gandía

Rigla

et al. 2010

Diabetes Technology & Therapeutics

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Background:Closed-loop control algorithms in diabetes aim to calculate the optimum insulin delivery to maintain the patient in a normoglycemic state, taking the blood glucose level as the algorithm's main input. The major difficulties facing these algorithms when applied subcutaneously are insulin absorption time and delays in measurement of subcutaneous glucose with respect to the blood concentration. Methods: This article presents an inverse controller (IC) obtained by inversion of an existing mathematical model and validated with synthetic patients simulated with a different model and is compared with a proportionalintegral-derivative controller. Results: Simulated results are presented for a mean patient and for a population of six simulated patients. The IC performance is analyzed for both full closed-loop and semiclosed-loop control. The IC is tested when initialized with the heuristic optimal gain, and it is compared with the performance when the initial gain is deviated from the optimal one (±10%). Conclusions:The simulation results show the viability of using an IC for closed-loop diabetes control. The IC is able to achieve normoglycemia over long periods of time when the optimal gain is used (63% for the full closedloop control, and it is increased to 96% for the semiclosed-loop control).

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“…Model-based glucose control has been mainly developed for the Ackerman's linear model [1] (e.g. adaptive control [30], optimal control [46,13], ∞ control [20]); more recently, different approaches have been proposed, based on nonlinear models such as the Minimal Model [5,47], or more exhaustive compartmental models [10,43,18] (e.g. Model Predictive Control [38], nonlinear Model Predictive Control [17], Neural Predictive Control [48], ∞ control [39], non-standard ∞ control [7,40], feedback linearization [32,31]).…”

mentioning

confidence: 99%

Robust closed-loop control of plasma glycemia: A discrete-delay model approach

Palumbo

Pepe

Panunzi

et al. 2008

2008 47th IEEE Conference on Decision and Control

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Abstract. The paper investigates the problem of tracking a desired plasma glucose evolution by means of intra-venous insulin administration. A modelbased approach is followed. A recent model of the glucose/insulin regulatory system which consists of discrete-delay nonlinear differential equations is used. A disturbance is added to the insulin kinetics in order to model uncertainties concerning both the insulin delivery rate and the mechanism actuating the insulin pump. A feedback control law which yields input-to-state stability of the closed loop error system with respect to the disturbance is provided. Such control law depends on the glucose and insulin measurements at the present and at a delayed time. In silico simulations validate the theoretical results.

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A robust controller for insulin pumps based on H-infinity theory

Cited by 83 publications

References 16 publications

Active insulin infusion using optimal and derivative-weighted control

Active insulin infusion using optimal and derivative-weighted control

A Simulation Study of an Inverse Controller for Closed- and Semiclosed-Loop Control in Type 1 Diabetes

Robust closed-loop control of plasma glycemia: A discrete-delay model approach

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