Figure 1.

Block diagram describing the design and verification process of the zone-MPC controller for use in pregnancy. Closed-loop system is at the core (yellow shaded area). Scenario parameters (dashed lines) are fed into the simulator and the controller. The resulting glucose trajectories are evaluated for safety and performance. Controller parameters are tuned iteratively to obtain glucose outputs that satisfy the clinical requirements. Blue lines belong to the flow chart of this decision process. Note that the controller injects an optimal insulin input that minimizes the cost, J, at every time step.