Terminal Synergetic Control for Blood Glucose Regulation in Diabetes Patients

In this paper, a new robust terminal synergetic control scheme is proposed to regulate blood glucose level in diabetic patients (type I diabetes), based on recently developed synergetic control and a terminal attractor technique. The technique presented has the advantage of using a continuous control law. Moreover, the proposed control scheme, besides being chattering free, has the characteristics of finite time convergence. Lyapunov synthesis is adopted to ensure controlled system stability. Simulation results of terminal synergetic control are compared to classic synergetic and second-order sliding mode control (SMC) performance, demonstrating that the proposed control method allows for rapidly achieving normoglycemia in type I diabetes patients.