Title: Kalman filtering linear quadratic regulator for artificial pancreas in type-I diabetes patient
Authors: Anuja Nanda; Akshaya Kumar Patra
Addresses: Department of Electrical and Electronics Engineering, ITER, Siksha 'O'Anusandhan University, Bhubaneswar – 751030, Odisha, India ' Department of Electrical and Electronics Engineering, ITER, Siksha 'O'Anusandhan University, Bhubaneswar – 751030, Odisha, India
Abstract: This manuscript presents a simulation model of glucose metabolism process (GMP) and design of a Kalman filtering linear quadratic regulator (KFLQR) to control the blood glucose (BG) concentration in Type-I diabetes mellitus (TIDM) patients. For designing of the KFLQR, a 9th order state-space model of the TIDM patient with micro-insulin dispenser (MID) is considered. In this control strategy, the basic linear quadratic regulator (LQR) is re-formulated with a state estimator based on the Kalman filtering approach for enhancement of control performance. The KFLQR is evaluated and compared with proportional integral and derivative (PID), LQR and pre-published control techniques suggested by different authors. The simulations are carried out through Matlab/Simulink environment and the results indicate the better performance of the suggested algorithm to control the BG concentration within the normoglycaemic range in terms of accuracy, stability, quick damping and robustness.
Keywords: type-I diabetes; MID; micro-insulin dispenser; LQR; linear quadratic regulator; state estimator; KFLQR; Kalman filtering linear quadratic regulator.
International Journal of Modelling, Identification and Control, 2020 Vol.34 No.1, pp.59 - 74
Received: 25 Apr 2019
Accepted: 05 Mar 2020
Published online: 04 Aug 2020 *