Glucose Control in Critically Ill Patients Using Sliding Mode Control with Robust Differentiators*

This paper presents a sliding mode controller for blood glucose control in critically ill patients. Most of the critically ill patients require an insulin infusion to regulate the elevated glucose levels mainly produced by counter-regulatory hormone secretion and insulin resistance. Sliding mode control can successfully handle problems with parameter uncertainties and nonlinearities. Robust differentiators have been incorporated in order to approximate the derivatives that appear in the resulting control law, and to avoid the abrupt changes in the control signal that are produced by the presence of noise and set point changes. The controller has been tested in silico with a literature model. Validation scenarios include parameter uncertainties, sensor noise and set point changes.