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A hybrid adaptive approach for drug delivery systems

The goal of this work is to develop an expert, hierarchical control scheme that adapts its structure in arcordance with a broad range of plant variations and knowledge about the plant. The coarsest control, provided by a fuzzy controller, moves the state of the plant towards the set point by modeling the actions of the operator. A multiple model adaptive control procedure provides the next level of control by forcing the plant's response to exist within a predetermined allowable range of specifications. The finest control is determined by a model reference adaptive controller that causes the plant to follow a desired reference model. The heuristics used to determine switching between different controllers is orchestrated by an expert system that bases its decisions on plant responses and controller parameter values. An illustrative blood pressure controller example is presented demonstrating the improved performance provided by this hybrid control system.