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Positive proportional errors (glucose level above target) and positive derivative errors (rising glucose level) called for an increase in the insulin delivery rate.
In the FMPD algorithm, the gain factors determined the degree to which proportional or derivative errors led to changes in hormone delivery rates.
The proportional and derivative error gain factors for glucagon were negative, such that negative proportional and derivative errors called for an increase in the glucagon rate.
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The overall insulin delivery rate was determined by adding the rates called for by the proportional error (IIRpe), the derivative error (IIRde), and the basal insulin rate.
For glucagon, the average weighted proportional error was calculated over a 15 min interval and the average weighted derivative error was calculated over a 10 min interval.
The FMPD algorithm determined the hormone delivery rates based on proportional error, defined as the difference between the current glucose level and the target level, and the derivative error, defined as the rate of change of the glucose.
The derivative error gain factor was 2.0 × 10−3 ± 0.096 × 10−3 units/kg per mg/dl for glucagon studies and was 2.0 × 10−3 units/kg per mg/dl for placebo studies.
In these low-gain glucagon studies, the mean proportional error gain factor was −0.23 ± 0.04 ml/kg per mg/dl/h, the mean derivative error gain factor was −0.06 ± 0.009 ml/kg per mg/dl, and target glucose for glucagon infusion was 108 ± 3 mg/dl.
In this paper an adaptive neuro-fuzzy inference system (ANFIS) controller using error and derivative of error inputs is proposed for the speed control of a separately excited DC motor (SEDM) using chopper circuit.
(40 44), the integral of the error and the derivative of error for the five measured variables, ( delta_{text{L}} ), ( delta_{R} ), ( theta_ ), ( h_{1} ) and ( h_{2} ), whereas the control outputs are the motor torques and the linear actuator forces.
In the second proposed approach, the robust exact differentiation via second-order sliding mode theory, known as Levant differentiator, is employed to decrease derivative estimation error in the process of estimation.
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