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. Author manuscript; available in PMC: 2020 Aug 19.
Published in final edited form as: J Process Control. 2019 Jun 23;80:202–210. doi: 10.1016/j.jprocont.2019.05.017

Figure 7:

Figure 7:

Blood Glucose control performance of rMPC (baseline) and EnMPC for a representative subject (patient # 5). Solid black line represents the set point (120 mg/dL), dotted black lines the safe glycemic range (80 – 180 mg/dL), gray area the exercise period, and blue and black triangles the bolus insulin and meals, respectively, sample. Hypo treatment is needed for the subject under rMPC.