Table 1.

Tuning Parameters of the MPC Law.

Parameter	Value	Parameter	Value
N p	24	$y_{\min }$	70 mg/dL
N c	18	${\mathrm{\tau }}_r$	5
$Q_0$	10	${\mathrm{\beta }}_1$	20
$\kappa$	100	${\mathrm{\beta }}_2$	1000
${\mathrm{\lambda }}_0$	${\mathrm{\psi }}_1{e}^{{\mathrm{\psi }}_2\cdot 4}$/$u_b$	${\mathrm{\psi }}_1$	18
$u_{\min }$	-$u_b$	${\mathrm{\psi }}_2$	1.125
$u_{\max }$	1000 mU/mL-$u_b$	${\mathrm{\psi }}_3$	25
∆$u_{\max 0}$	50 mU/mL	${\mathrm{\psi }}_4$	150

Abbreviation: MPC, model predictive control.