Robust control of heart rate for cycle ergometer exercise

The objective was to assess the performance and robustness of a novel strategy for automatic control of heart rate (HR) during cycle ergometry. Control design used a linear plant model and direct shaping of the closed-loop input-sensitivity function to achieve an appropriate response to disturbances...

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Bibliographic Details
Published in:Medical & biological engineering & computing 2019-11, Vol.57 (11), p.2471-2482
Main Authors: Hunt, Kenneth J., Hurni, Cédric C.
Format: Article
Language:English
Subjects:
Adult
Automatic control
Biomedical and Life Sciences
Biomedical Engineering and Bioengineering
Biomedicine
Computer Applications
Control stability
Controllers
Disturbances
Equipment Design
Ergometry - instrumentation
Ergometry - methods
Exercise - physiology
Feedback
Feedback control
Frequencies
Heart rate
Heart Rate - physiology
Human Physiology
Humans
Imaging
Loop transfer functions
Male
Models, Biological
Original
Original Article
Power plants
Radiology
Robust control
Sensitivity
Sensitivity analysis
Signal Processing, Computer-Assisted
Stability analysis
Tracking errors
Young Adult
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Summary:The objective was to assess the performance and robustness of a novel strategy for automatic control of heart rate (HR) during cycle ergometry. Control design used a linear plant model and direct shaping of the closed-loop input-sensitivity function to achieve an appropriate response to disturbances attributable to broad-spectrum heart rate variability (HRV). The controller was evaluated in 73 feedback control experiments involving 49 participants. Performance and stability robustness were analysed using a separately identified family of 73 plant models. The controller gave highly accurate and stable HR tracking performance with mean root-mean-square tracking error between 2.5 beats/min (bpm) and 3.1 bpm, and with low average control signal power. Although plant parameters varied over a very wide range, key closed-loop transfer functions remained invariant to plant uncertainty in important frequency bands, while infinite gain margins and large phase margins (> 62 ∘ ) were preserved across the whole plant model family. Highly accurate, stable and robust HR control can be achieved using LTI controllers of remarkably simple structure. The results highlight that HR control design must focus on disturbances caused by HRV. The input-sensitivity approach evaluated in this work provides a transparent method of addressing this challenge. Graphical Abstract Heart rate control using a cycle ergometer
ISSN:0140-0118
1741-0444
DOI:10.1007/s11517-019-02034-6