“…A PID control strategy is attractive for glucose control because it mimics the first and second phase responses that the pancreas beta cells use to secrete insulin in response for non-diabetic individuals to the continuously sensed glucose [9]. In recent years, model-based control strategies such as model predictive control (MPC), adaptive control [6,[13][14][15][16][17][18], optimal control [19], neural networks [20,21], and H-infinity control [22,23], have been proposed and evaluated in simulation studies. A few experimental applications of MPC have also been reported [16,17,24].…”