Analysis of three T1DM simulation models for evaluating robust closed-loop controllers

This work compares three well-known models and simulators in terms of their use in the analysis and design of glucose controllers for patients with Type 1 Diabetes Mellitus (T1DM). The objective is to compare them in practical scenarios which include: model uncertainty, time variance, nonlinearities, glucose measurement noise, delays between subcutaneous and plasma levels, pump saturation, and real-time controller implementation. The pros and cons of all models/simulators are presented. Finally, the simulators are tested with different robust controllers in order to identify the difficulties in the design and implementation phases. To this end, three sources of uncertainty are considered: nonlinearities, time-varying behavior (intra-patient) and inter-patient differences.