In this paper an optimal Immune-Proportional-Integral-Derivative (Immune-PID) scheme is suggested to control to the heart rate of humans and regulate it, based on Yanagihara, Noma, and Irisawa (YNI) as mathematical model of the heart rate. The parameters of the suggested immune PID controller are optimized by using Biogeography-Based-Optimization (BBO) algorithm. In addition, the proposed controller scheme is implemented using Field Programmable Gate Array (FPGA) due to its great data storage capacity, low consumption of energy, and high speed of operation. The Xilinx system generator blocks and Spartan-6 (XC6SLX45T-3FGG484) board are used due to availability with 1% utilization of hardware platform slices. The performance of the proposed controller is compared to traditional PID and immune controllers. That comparative analysis results show best improvement when using the proposed controller with 0% maximum overshoot, a reduction of steady state error and rising time reaches to 0.1 and 0.0023 second respectively and faster response reaches to 0.01 second.

A modified Model-Free Sliding Mode Controller (MF-SMC) scheme, which based on the Biogeography-Based Optimization (BBO) algorithm is suggested, to regulate the heart rate since it is difficult to derive a suitable model for the control algorithm, therefore the traditional control algorithm cannot perform efficiently. Also, a smoothing boundary layer is used to eliminate the chattering in the MF-SMC control signal. Results of simulation effort show that overshoot less and fast performance is achieved with stable convergence for the tracking regardless of the heart rate model to be controlled.Index Terms-Model free controller, SMC controller, BBO algorithm, heart rate (HR), pacemaker. 32Design of Model Free Sliding Mode Controller based on BBO Algorithm for Heart Rate Pacemaker

This paper presents different structures of immune proportional-integral-derivative (PID) control system, to regulate the heart rate. It is based on Yanagihara, Noma, and Irisawa (YNI) model that represent the mathematical model of the heart. Three structure designs have been proposed to emphasize the optimality in the control process. In this work differential evolution (DE) algorithm is considered to optimize the controller parameters. The performance of the proposed three controllers has been compared to traditional PID methods. The comparison results show best improvement when using the proposedstructure-III with 0% maximum overshoot, a reduction of 98.9%, 96.8% and 30.8% in rising time, settling time, and steady state error respectively.