Internal model sliding mode control approach for glucose regulation in type 1 diabetes

Amjad Abu-Rmileh, Winston Garcia-Gabin, Darine Zambrano

Research output: Contribution to journalArticlepeer-review

39 Scopus citations


Patients with type 1 diabetes require insulin therapy to maintain blood glucose levels within safe ranges since their pancreas is unable to complete its function. The development of a closed-loop artificial pancreas capable of maintaining normoglycemia during daily life will dramatically improve the quality of life for insulin-dependent diabetic patients. In this work, a closed-loop control strategy for blood glucose level regulation in type 1 diabetic patients is presented. A robust controller is designed using a combination of internal model and sliding mode control techniques. Also, the controller is provided with a feedforward loop to improve meal compensation. A simulation environment designed for testing the artificial pancreas control algorithms has been used to evaluate the controller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model-patient mismatch and meal estimation errors.

Original languageEnglish
Pages (from-to)94-102
Number of pages9
JournalBiomedical Signal Processing and Control
Issue number2
StatePublished - 1 Jan 2010
Externally publishedYes


  • Artificial pancreas
  • Internal model control
  • Sliding mode control
  • Type 1 diabetes mellitus

ASJC Scopus subject areas

  • Signal Processing
  • Health Informatics


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