Fig 8. Robustness of the optimal control solution against parameter perturbations of the system and CVGA in the G^min, G^max plane.

The analysis is performed for A) ReMF (p = 1) problem with only insulin provided, B) ReME (p = 2) problem with only insulin provided, C) ReMF (p = 1) problem with both insulin and glucagon provided, D) ReME (p = 2) problem with both insulin and glucagon provided, E) the standard therapy, and F) the proposed ad-hoc dual drug therapy. Cross symbols indicate the application of the optimal control therapies to the unperturbed systems.