Heart rate control during treadmill exercise using input-sensitivity shaping for disturbance rejection of very-low-frequency heart rate variability

The input-sensitivity-shaping method provides a direct way to address the principal design challenge for HR control, namely disturbance rejection in relation to VLF-HRV, and delivered robust and accurate tracking with a smooth, low-power control signal. Issues of parametric and structural plant uncertainty are secondary because a simple approximate plant model, not specific to any of the subjects tested, was sufficient to achieve accurate, stable and robust heart rate control performance.