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Model prediction structure in zone-MPC includes two parts. First is second-order transfer function that is unvaried over the different subjects. Second is an individualized discrete model that predicts glycemia given mapped input data. The overall prediction is a result of raw data containing past outputs, inputs, and future manipulated CM going through transfer functions and mapped into new states (Imap, Mmap) into the individualized discrete model to give the glycemia prediction.
