The robust servo control of a model-based biomedical application, namely the glucose-insulin
control of diabetes patients under intensive care, is presented in the paper. The
synthesis and analysis is based on a modified two compartment Bergman model and realized
with a two degree of freedom controller structure permitting to assure insulin tracking.
The augmented Δ − P − K structure is described with the necessary weighting functions.
A non-conservative complex μ-synthesis method is applied. Using the controller, not
only the robust stability is met under multiplicative uncertainty, but also the nominal
performance i.e. the disturbance rejection is fulfilled. Food (sugar) intake is considered
as disturbance. Closed loop simulation results are edged for optimizing the insulin