Enabling Anticipatory Response in Multi-Stage MPC Formulation for Fully Automated Artificial Pancreas System

Controlling postprandial glucose excursions in type 1 diabetes (T1D) still remains a challenge for most automated insulin delivery (AID) algorithms. The main limiting factor has been the slow absorption of current insulin analogs that prevents the controller from responding aggressively enough to significant glucose excursions without increasing the risk for insulin stacking and, consequently, late hypoglycemia. Faster insulin analogs represent an appealing solution to this problem, because they enable better alignment between meal and insulin rates of appearance. In this paper, we discuss about another way to overcome this fundamental performance limitation that consists in allowing the controller to properly anticipate likely disturbances through a robust model predictive control (MPC) strategy.