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Robust Controller Design for T1DM Individualized Model:Gain-Scheduling Approach

Adrian Ilka(1*), Ivan Ottinger(2), Tomáš Ludwig(3), Marián Tárník(4), Vojtech Veselý(5), Eva Miklovičová(6), Ján Murgaš(7)

(1) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(2) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(3) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(4) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(5) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(6) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(7) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v8i2.5554

Abstract


This paper deals with the robust gain-scheduled controller design for individualized type 1 diabetes mellitus (T1DM) subject model. The controller is designed using LPV model created from T1DM minimal model with two additional subsystems - absorption of digested carbohydrates and subcutaneous insulin absorption. Data collected from continuous glucose monitoring with the help of pharmacodynamics and pharmacokinetics characteristics were used for model identification. The closed-loop stability and cost for all scheduled parameters is guaranteed by the controller design approach. The benefits of the presented approach are shown in the simulation results.
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Keywords


LPV System; Robust Controller; Gain-Scheduling; Output Feedback; Quadratic Stability; Type 1 Diabetes Mellitus Model

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References


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