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Design and evaluation of a robust PID controller for a fully implantable artificial pancreas Lauren Maria Huyett, Eyal Dassau, Howard C Zisser, and Francis J Doyle Ind. Eng. Chem. Res., Just Accepted Manuscript • DOI: 10.1021/acs.iecr.5b01237 • Publication Date (Web): 09 Jun 2015 Downloaded from http://pubs.acs.org on June 14, 2015
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Industrial & Engineering Chemistry Research
Design and evaluation of a robust PID controller for a fully implantable artificial pancreas Lauren M. Huyett, Eyal Dassau, Howard C. Zisser, Francis J. Doyle III* Department of Chemical Engineering, University of California Santa Barbara, Santa Barbara, CA 93106-5080
Treatment of type 1 diabetes mellitus could be greatly improved by applying a closed-loop control strategy to insulin delivery, also known as an artificial pancreas (AP). In this work, we outline the design of a fully implantable AP using intraperitoneal (IP) insulin delivery and glucose sensing. The design process utilizes the rapid glucose sensing and insulin action offered by the IP space to tune a PID controller with insulin feedback to provide safe and effective insulin delivery. The controller was tuned to meet robust performance and stability specifications. An anti-reset windup strategy was introduced to prevent dangerous undershoot toward hypoglycemia after a large meal disturbance. The final controller design achieved 78% of time within the tight glycemic range of 80-140 mg/dL, with no time spent in hypoglycemia. The next step is to test this controller design in an animal model to evaluate the in vivo performance.
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Introduction Type 1 diabetes mellitus (T1DM) is a chronic disease that occurs when the pancreatic beta
cells are destroyed, leaving the body unable to produce sufficient insulin to maintain glycemic homeostasis. To manage this condition, people with T1DM need to self-administer exogenous insulin based on measurements of their blood glucose concentration (BG) and an estimation of carbohydrate (CHO) content in their meals. This procedure requires the person to measure their blood glucose concentration several times per day using a fingerstick method to access capillary blood. The goal is to keep the BG in equilibrium, avoiding values that are too high (hyperglycemia, BG>180 mg/dL) and too low (hypoglycemia, BG
