Closed-loop Regulation of Blood Glucose based on Subcutaneous Measurements B. Wayne Bequette • Background • Model Predictive Control (MPC), State Estimation • Model and Controller Design • Unique Challenges of Diabetes • Simulation Results • Focus on Meal Disturbance Rejection • Sensor Degradation and Compensation
16
Embed
Closed-loop Regulation of Blood Glucose based on Subcutaneous Measurements
B. Wayne Bequette. Closed-loop Regulation of Blood Glucose based on Subcutaneous Measurements. Background Model Predictive Control (MPC), State Estimation Model and Controller Design Unique Challenges of Diabetes Simulation Results Focus on Meal Disturbance Rejection - PowerPoint PPT Presentation
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Closed-loop Regulation of Blood Glucose based on Subcutaneous Measurements
B. Wayne Bequette
• Background• Model Predictive Control (MPC), State Estimation
• Model and Controller Design• Unique Challenges of Diabetes
• Simulation Results• Focus on Meal Disturbance Rejection• Sensor Degradation and Compensation
Automated Feedback Control
controller
Sensor (Therasense)
pump patient
glucose setpoint
Model Predictive Control
Find current and future insulin infusion rates that best meet a desired future glucose trajectory. Implement first “move.”
Correct for model mismatch (estimate states), then perform new optimization.
tkcurrent step
setpoint (desired glucose)y
actual glucose (past)
PPredictionHorizon
past controlmoves
u max
min
MControl Horizon
past future
model prediction
tk+1current step
setpoint (glucose)y
PPredictionHorizon
past controlmoves
u max
min
MControl Horizon
model predictionfrom k
new model prediction
insulin
insulin
MPC Issues
Type of Model Linear differential equations
Model Update Additive “correction”? Explicit disturbance (meal) or parameter estimation?
Error Due to Disturbance or Noise? Future Prediction?
Classical MPC - assume constant for future
Sensors & Estimation Measure subcutaneous, control blood glucose
MPC Literature Review
Dogs, Venous Blood, Glucose+Insulin Delivery Kan et al. (2000)
Simulation, s.c. Sensor + Delivery, ANN Trajanoski and Wach (1998)
Simulation, i.v.-i.v., EFK-based MPC Parker et al. (1999)
Simulation, i.v.-s.c., EKF-based MPC Lynch and Bequette (2002)