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We propose a method to identify diurnal changes in insulin action in patients suffering from type 1 diabetes mellitus (T1DM) based on data recorded by continuous glucose monitoring systems (CGMS). In order to do so the data is fitted using a continuous time transfer function including time dependent terms. The identified values for the insulin needs per gram of carbohydrate were compared with the...
Exogenous insulin administration is the standard way to regulate hyperglycemia in diabetic patients and, in the recent decades, the challenging task to design an artificial pancreas has been addressed with the aim to synthesize a closed-loop control law by means of sampled glucose measurements. Model-based control law allow to explicitly exploit the glucose-insulin mathematical model, but need to...
Nowadays, the requirements in the high quality managing and mathematical modeling of diabetes are increasing. Due to the several types of this chronic disease the problem represents a challenging task that was mostly covered in the literature for type 1 diabetes while examining algorithms for artificial pancreas. The aim of the current paper is to analyze a recently developed novel time-delay diabetes...
The prediction of blood glucose for therapy optimization in type 1 diabetes has proved to be a difficult challenge. A main limitation is the presence of large intra-patient variability and hence, model uncertainty, which may jeopardize model individualization, both for data-based and physiological models. Interval models provide a natural framework to represent intra-patient variability in the form...
This paper presents a bihormonal artificial pancreas (AP) for people with type 1 diabetes (T1D) designed to provide a safe blood glucose control with minimal use of glucagon. The control algorithm uses insulin as well as glucagon to prevent hyper- and hypoglycemia. We employ a novel prediction-based activation of glucagon administration. The control algorithm consists of a Kalman filter, an insulin...
In this paper we estimate linear models for prediction of the interstitial glucose concentration in response to meals and bolus insulin. Parameters of these models can be directly used in simple bolus calculation rules. In contrast to models proposed in the literature, we present a model without an integrator. This model maintains the benefits of the existing empirical models and allows simulation...
This paper develops tools to construct Lyapunov functions establishing integral input-to-state stability (iISS) and input-to-state stability (ISS) for several classes of nonlinear parabolic equations. Using these constructions and an infinite-dimensional iISS small-gain theorem we provide a stability criterion for interconnections of iISS parabolic systems. We show that for interconnections of partial...
This work studies a convective flow system and presents experimental closed-loop results carried out on a test-bench representative of several industrial processes. This test bench consists of a horizontal column equipped with a mist actuator located at the inlet and fans generating an air flow circulating along the tube. Following our recent theoretical design, we implemented a prediction-based control...
In this paper, a simple observer design scheme is proposed for a class of 1-D semi-linear parabolic distributed parameter systems with in-domain measurement. The main idea of the design resides in imposing the measurement on the observer dynamics in a similar way as it is done in the finite-dimensional reduced order observer design. For the distributed system this is achieved through an additional...
The approach recently proposed by the authors for the null controllability of 1-D parabolic equations is applied to the nontrivial case of a heat equation with discontinuous coefficients and subjected to Robin boundary conditions. The control steering the system to zero from a discontinuous initial state is comprehensively derived, together with the corresponding trajectory. Numerical experiments...
In this article, we study the Lagrangian controllablity of the Korteweg-de Vries (KdV) equation with the higher order velocity field for the N-solitons solution given in [4]. We prove that, for a given depth of the fluid h0, there exists LN > 0 such that if L < LN, then there exists a time T for which one can transport the fluid located in [0, L] to x > L. Physical applications of this result...
We consider the problem of boundary stabilization of 3 × 3 linear first-order hyperbolic systems with one positive and two negative transport speeds by using backstepping. The main result of the paper is to supplement the previous works on how to choose multi-boundary feedback inputs applied on the states corresponding to the negative velocities to obtain finite-time stabilization of the original...
This paper provides a tutorial on the continuation/ GMRES method (C/GMRES), which is a real-time optimization algorithm tailored for nonlinear model predictive control (NMPC) and a Maple version of AutoGenU, which is an automatic code generation system utilizing a symbolic computation language to simulate NMPC with C/GMRES. Once such settings of NMPC as the state equation and performance index are...
The oil crisis and strict emission legislation have greatly motivated the development of internal combustion engine technology. To improve fuel economy performance and reduce emissions, engine transient control has attracted wide research interests. However, engine system is a nonlinear physical plant with constraints on itself and actuators, and also it is a sophisticated control system involving...
This paper proposes an optimal control approach to control systems described by discrete time I/O models. In particular, the C/GMRES method, which is a curse-of-dimensionality free and fast approximative optimal control method is adapted to this purpose. Comparing this approach with conventional industry standard methods, the benefits are twofold: First, easy and intuitive tuning of the control via...
Ecological (eco)-driving aims at improving fuel economy of a vehicle by taking smooth driving action in the road traffic networks. This tutorial paper presents an advanced eco-driving system for a host vehicle that uses information of surrounding vehicles, road gradients and the state of upcoming traffic signal to predict the future traffic states using the dynamical models, and based on the predicted...
This paper is a tutorial for a path generation method during merging maneuver of automobile using a model predictive control scheme. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motion of the main lane vehicles...
This paper presents the design of a model predictive controller for Diesel engine air-path system that coordinates the actuators of a two-stage turbocharger to reduce the aftertreatment warm-up time, optimizing the boost pressure and maintaining the desired EGR ratio. Starting from a control-oriented model of the engine air-path system, a bypass valve thermal model is derived to predict the temperature...
In this paper, we present a motion-scheduled LPV/H∞ suspension controller that takes into account the three main motions of the vehicle vertical dynamics: bounce, roll and pitch motions. The new approach aims, by using a motion detection method, at designing a controller which is able to adapt the suspension forces at the four corners of the vehicle, in order to mitigate the road-induced effects....
This paper introduces an adaptive approach for a game-theoretic strategy on Complete Vehicle Energy Management. The proposed method enhances the game-theoretic approach such that the strategy is able to adapt to real driving behavior. The classical game-theoretic approach relies on one probability distribution function whereas the proposed approach is made adaptive by using dedicated probability distribution...
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