Blood glucose control algorithms have evolved since the beginnings of the artificial pancreas in diabetes treatment. Although the main problem to solve remains as the regulation of blood glucose into the healthy physiological range, the schemes have evolved over time from on-off schemes to the data-based personalized schemes. The evolution has been in accordance with the understanding of glucose metabolism, the theoretical background to model it, and the availability of sensor technology. The algorithms have allowed the calculation of insulin infusion (sometimes glucagon or glucose), by the highly invasive intravenous route, up to schemes based on the minimally invasive subcutaneous route. Solutions have also been proposed to deal with delays in insulin action and glucose measurement, as well as robust schemes to reject disturbances due to meal intake, exercise, non-modeled dynamics, and parametric variations due to inter- and intravariability of metabolism. Other problem that control schemes have solved is the safety in insulin infusion, including the calculation of insulin on board to avoid episodes of hypoglycemia, guaranteeing glucose regulation in normoglycemia, and decreasing the time in hyperglycemia. To summarize the role of control algorithms in the development of the artificial pancreas, this paper presents a historical review of the proposed control algorithms, from the establishment of the paradigm of artificial pancreas to the present date.

自从人造胰腺在糖尿病治疗中开始以来，就已经发展了血糖控制算法。尽管要解决的主要问题仍然是将血糖调节到健康的生理范围内，但是随着时间的流逝，该方案已经从“开-关”方案发展到了基于数据的个性化方案。进化的依据是对葡萄糖代谢的理解，对其建模的理论背景以及传感器技术的可用性。该算法允许通过高侵入性静脉内途径计算胰岛素输注（有时为胰高血糖素或葡萄糖），直至基于微创皮下途径的方案。还提出了解决方案，以解决胰岛素作用和血糖测量的延迟，以及鲁棒的方案来拒绝由于进餐，运动，非模型动力学以及新陈代谢的内部和内部变异性引起的参数变化而引起的干扰。控制方案解决的其他问题是胰岛素输注的安全性，包括计算机载胰岛素以避免低血糖发作，保证正常血糖中的葡萄糖调节以及减少高血糖时间。为了总结控制算法在人造胰腺发展中的作用，本文对提出的控制算法进行了历史回顾，从人造胰腺范例的建立到现在。控制方案已解决的其他问题是胰岛素输注的安全性，包括计算船上胰岛素以避免低血糖发作，保证正常血糖中的葡萄糖调节以及减少高血糖时间。为了总结控制算法在人造胰腺发展中的作用，本文对提出的控制算法进行了历史回顾，从人造胰腺范例的建立到现在。控制方案解决的其他问题是胰岛素输注的安全性，包括计算机载胰岛素以避免低血糖发作，保证正常血糖中的葡萄糖调节以及减少高血糖时间。为了总结控制算法在人造胰腺发展中的作用，本文对提出的控制算法进行了历史回顾，从人造胰腺范例的建立到现在。