This article is concerned with the blood glucose \(H_{\infty }\) output control issue of nonlinear time-varying delayed glucose-insulin system with input saturation. To describe the nonlinear dynamics and the delayed behaviors of glucose-insulin system, a time-varying Takagi–Sugeno fuzzy glucose-insulin system is established. To derive more accurate estimated system state, a proportional-integral observer is applied by using both the error between the measured blood glucose concentration and observer output and its integral term. Considering the practical limitation for the insulin pumps, the saturated \(H_{\infty }\) fuzzy state feedback controller based on the observer state is designed. With the aid of Lyapunov method, some sufficient conditions are proposed to co-design the controller and observer gains, which can ensure the system stability with given \(H_{\infty }\) performance. Finally, the effectiveness of the presented strategy is manifested through some simulation outcomes.
