Fractional Order PID Controller for Diabetes Patients

Document Type : Research Paper


1 Department of Mechanical Engineering, Ferdowsi University of Mashhad

2 Department of Life Science Engineering, University of Tehran

3 Department of life science engineering, University of Tehran


This paper proposes an optimized control policy over type one diabetes. Type one diabetes is taken into consideration as a nonlinear model (Augmented Minimal Model), which is implemented in MATLAB-SIMULINK. This Model is developed in consideration of the patient's conditions. There are some uncertainties in the regarded model due to factors such as blood glucose concentration, daily meals or sudden stresses. Moreover, there are distinct approaches toward the elimination of these uncertainties. In here, a meal is fed to the model as an input in order to omit these uncertainties. Also, different control methods could be chosen to monitor the blood glucose level. In this paper, a Fractional Order PID is utilized as the control method. Thereafter, the control method and parameters are tuned by conducting genetic algorithm, as a powerful evolutionary algorithm. Finally, the output of the optimized Fractional order PID and traditional PID control method, which had the same parameters as the Fractional PID except the fractions, are compared. At the end, it is concluded by utilizing Fractional Order PID, not only the controller performance improved considerably, but also, unlike the traditional PID, the blood glucose concentration is maintained in the desired range.


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Volume 46, Issue 1 - Serial Number 1
Winter & Spring
January 2015
Pages 69-76
  • Receive Date: 01 October 2014
  • Revise Date: 04 April 2015
  • Accept Date: 03 April 2015