Abstract
Neurogenic bladder is one of the known diseases that affects the Lower Urinary Tract (LUT) leading to a dysfunctional operating pattern. The disease is mainly attributed to disorders in the central nervous system or peripheral nerves which play the major role in controlling the micturition process. This paper suggests a new technique to treat this disease considering robust Model Predictive Control (MPC). The proposed MPC controller proves capability to bring the dysfunctional LUT to its normal operating pattern while satisfying the nerve signal constraints and demonstrates high degree of robustness when severe uncertainties between the model and real patients are considered. In addition, in order to pave the way for applying the proposed controller to real patients, the system resistance to external noise is investigated and an attenuation technique is introduced to reduce the harmful effect of potential noise interference.
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