Table 4.

Experimental results of clinical case studies

No.	CS‐Fr, Venous	BF, l/min	PCO2, mmHg	Estimated control parameters			Pump speed, rpm		Error, %|	Voltage control, V	Duty ratio
				K P	K I	K D	Actual	Estimated
1	18	4.00	40	0.5000	0.1725	0.0010	2845	2917	2.53%	2.917	0.642
2	20	3.80	48	0.5000	0.1876	0.0010	2665	2666	0.00%	2.666	0.592
3	20	2.80	33	0.5000	0.2522	0.0005	2025	1989	1.78%	1.989	0.442
4	20	2.50	29	0.5000	0.2790	0.0005	1737	1802	3.74%	1.802	0.400
5	20	2.19	46	0.5000	0.3092	0.0005	1617	1617	0.00%	1.617	0.359
6	22	2.20	32	0.5000	0.2561	0.0005	1960	1953	0.35%	1.953	0.434