Abstract
Abstract
 In this work, diabetic glucose concentration level control under disturbing meal has been controlled using two set of advanced controllers. The first set is sliding mode controllers (classical and integral) and the second set is represented by optimal LQR controllers (classical and Min-, ax). Due to their characteristic features of disturbance rejection, both integral sliding mode controller and LQR Minmax controller are dedicated here for comparison. The Bergman minimal mathematical model was used to represent the dynamic behavior of a diabetic patient’s blood glucose concentration to the insulin injection. Simulations based on Matlab/Simulink, were performed to verify the performance of each controller. In spite that Min-max optimal controller gave better disturbance rejection capability than classical optimal controller, classical sliding mode controller could outperform Min-max controller. However, it has been shown that integral sliding mode controller is the best of all in terms of disturbance rejection capability.
 
 Key words: Optimal LQR control, Optimalminimax control, Sliding mode control, Integral sliding mode control.
Highlights
Diabetes mellitus is the human disease which results from the presence of high level of blood sugar for prolonged period due to inadequate generation of insulin in blood [1].In human body, the beta cells in pancreas are responsible for producing the insulin, which regulates the glucose consumption
Any patient that suffers from diabetes and not receives the insulin cure properly can lead to complications such as nerve damage, brain damage, amputation and eventually death
Both sliding mode and optimal LQR controllers have been applied to the diabetic model
Summary
Diabetes mellitus is the human disease which results from the presence of high level of blood sugar for prolonged period due to inadequate generation of insulin in blood [1]. Beta cells fails to produce enough insulin concentration in blood and the human body will be unable to control the blood glucose level. Type I diabetes mellitus patients cannot produce any insulin and insulin shots are given several times a day to help regulate their blood glucose level. The diabetes is diagnosed if the human body is not able to control the normal glucose-insulin interaction [3] For this reason, the blood glucose must be regulated by injecting the insulin [4]. Maryam [13] tried to tune the PD fuzzy controller with PSO algorithm These fuzzy controllers were just able to control the glucose concentration, and suffer from lack of insulin and pump control. Four different controllers (optimal LQR, minimax optimal, sliding mode, integral sliding mode) are addressed and designed for the glucose concentration level control problem in diabetic patients under meal disturbance
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