Diabetes, as a widespread chronic disease, is caused by the increase of blood glucose concentration (BGC) due to pancreatic insulin production failure and/or insulin resistance in the body. The artificial pancreas (AP) known as a closed-loop insulin delivery control system consists of a glucose sensor for BGC measurement, a control algorithm for calculation of exogenous insulin delivery rate (IDR), and an insulin infusion pump. The AP provides a closed-loop glucose-insulin regulatory system for type-1 diabetes mellitus (T1DM) patients in order to effectively reduce the high BGC level. In this paper, we aim to design a controller in order to regulate the BGC of T1DM patients at its basal value with considering meal disturbance in the system. We confront with different problems for glucose control such as sampled and quantized glucose measurement by the sensor, quantized IDR by the insulin infusion pump, and an unknown input delay of the insulin infusion pump as the actuator of the control system. The bergman minimal model (BMM) as the most famous model for describing the glucose-insulin regulatory system is reviewed and the delay-independent observer for the estimation of the system’s state vector from the sensor output (sampled and quantized BGC) is considered. Moreover, the observer works on the basis of an event-triggered strategy in order to avoid unnecessary signal updating. At the end, the IDR calculated by the proposed delay-independent truncated predictor output feedback controller (based on the observer’s output) is delivered to the T1DM patient. A sufficient condition on the insulin infusion pump delay’s upper bound value in order to guarantee the ultimate boundedness of the glucose-insulin regulatory system under the mentioned constraints is derived. Also, the nonoccurrence of Zeno behavior in the proposed control system is proved. Numerical simulation results confirm the effectiveness of the designed controller in the presence of meal disturbance, unknown input delay, and quantization errors for blood glucose regulation of the glucose-insulin regulatory system in T1DM patients. Moreover, a pre-clinical verification of the applicability of the proposed glucose controller is carried out on a large-scale and multi-compartmental model that is the base of the UVA/PADOVA Type-1 Diabetes Simulator.

糖尿病作为一种广泛传播的慢性疾病，是由于体内胰腺胰岛素产生失败和/或胰岛素抵抗导致血糖浓度（BGC）升高而引起的。被称为闭环胰岛素输送控制系统的人工胰腺 (AP) 由用于 BGC 测量的葡萄糖传感器、用于计算外源性胰岛素输送率 (IDR) 的控制算法和胰岛素输液泵组成。AP为1型糖尿病（T1DM）患者提供闭环葡萄糖-胰岛素调节系统，以有效降低高BGC水平。在本文中，我们旨在设计一个控制器，以便在考虑系统中的膳食干扰的情况下将 T1DM 患者的 BGC 调节在其基础值。我们面临葡萄糖控制的不同问题，例如传感器的采样和量化葡萄糖测量，胰岛素输液泵的量化 IDR，以及胰岛素输液泵作为控制系统执行器的未知输入延迟。回顾了作为描述葡萄糖-胰岛素调节系统最著名的模型的伯格曼最小模型 (BMM)，并考虑了用于从传感器输出（采样和量化的 BGC）估计系统状态向量的延迟独立观察器。此外，观察者基于事件触发策略工作，以避免不必要的信号更新。最后，由所提出的与延迟无关的截断预测器输出反馈控制器（基于观察者的输出）计算的 IDR 被传递给 T1DM 患者。推导了胰岛素输液泵延迟上限值的充分条件，以保证葡萄糖-胰岛素调节系统在上述约束条件下的最终有界性。此外，证明了所提出的控制系统中没有出现芝诺行为。数值模拟结果证实了设计的控制器在存在膳食干扰、未知输入延迟和量化误差的情况下对 T1DM 患者葡萄糖-胰岛素调节系统的血糖调节的有效性。此外，在作为 UVA/PADOVA Type-1 糖尿病模拟器基础的大规模多室模型上对所提出的葡萄糖控制器的适用性进行了临床前验证。