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In nominal cases, the heartbeat of a healthy adult should be in the range of 60–100 beats per minute. In some cases, one cannot be able to keep the heartbeat in this range; for example, patients with bradycardia often have a slow heart rate. A solution to the slow heart rate is a pacemaker, which ensures the heartbeat is in the desired range by providing an appropriate electric pulse. Control systems design for a patient with a pacemaker is an essential requirement. One of the most used control systems for pacemakers is Proportional-Integral-Derivative (PID) controller due to its simplicity. However, one cannot guarantee the performance of a designed single PID controller for the wide range of variations in the heartbeat and uncertainties in the pacemaker model and/or heart model. In this paper, we design a robust PID controller which has the capability to deal with parametric variations in the heart and pacemaker model and will maintain the heartbeats in the desired range. Further, Kharitonov’s theorem will be used to verify the stability of the designed controller for the pacemaker in the presence of parametric uncertainties. A wide range of simulations has been carried out to show the efficacy of the proposed robust controller when the pacemaker and heart model parameters vary from \(-35\) to \(+95\%\) of their base values.

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Controller Design for an Uncertain Pacemaker and Robustness Analysis Using Kharitonov’s Theorem

  • 会议论文

  • 发表日期：

    2025年

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  • Nama N. D. Sai Somya,
  • Gundu Pruthvi,
  • Ammu Venkata Satya Sai,
  • Kumar Pakki Bharani Chandra

摘要

In nominal cases, the heartbeat of a healthy adult should be in the range of 60–100 beats per minute. In some cases, one cannot be able to keep the heartbeat in this range; for example, patients with bradycardia often have a slow heart rate. A solution to the slow heart rate is a pacemaker, which ensures the heartbeat is in the desired range by providing an appropriate electric pulse. Control systems design for a patient with a pacemaker is an essential requirement. One of the most used control systems for pacemakers is Proportional-Integral-Derivative (PID) controller due to its simplicity. However, one cannot guarantee the performance of a designed single PID controller for the wide range of variations in the heartbeat and uncertainties in the pacemaker model and/or heart model. In this paper, we design a robust PID controller which has the capability to deal with parametric variations in the heart and pacemaker model and will maintain the heartbeats in the desired range. Further, Kharitonov’s theorem will be used to verify the stability of the designed controller for the pacemaker in the presence of parametric uncertainties. A wide range of simulations has been carried out to show the efficacy of the proposed robust controller when the pacemaker and heart model parameters vary from \(-35\) to \(+95\%\) of their base values.