Pulsatile Zone MPC with asymmetric stationary cost for artificial pancreas based on a non-standard IOB constraint

This paper presents a novel pulsatile Zone Model Predictive Control (pZMPC) for glycemic control in type 1 diabetic patients, which is an extension of the one presented in literature. Its main characteristics are (i) the explicit inclusion of a time-varying insulin on board constraint to promote a non-zero insulin delivery after a standard bolus infusion and to increase the postprandial system controllability, and (ii) the softening of this constraint to ensure closed-loop stability for an enlarged domain of attraction. Additionally, configuration methods are proposed for the insulin on board constraint based on carb counting regression models and glycemia rate of change information. In-silico results in the FDA-approved UVA/Padova simulator, under over/underestimation of the meal amounts, and under insulin sensitivity variability, show a superiority of the proposed glucose control over postprandial periods.