Model-based nonlinear optimal blood glucose control of type I diabetes patients.

Using induced L(2)-norm minimization, a robust controller was developed for insulin delivery in Type I diabetic patients. The high-complexity nonlinear diabetic patient Sorensen-model [1] was considered. LPV (Linear Parameter Varying) methodology was used to develop open loop model and robust controller. Considering the normoglycemic set point (81.1 mg/dL), a polytopic set was created over the physiologic boundaries of the glucose-insulin interaction of the Sorensen-model. In this way, LPV model formalism was defined. The robust control was developed considering input and output multiplicative uncertainties with other weighting functions.