Comparative Analysis of PID Control Structures for Glucose Regulation in Type 1 Diabetes: A Simulation-Based Study Using the Bergman’s Model

Regulation of blood glucose levels is a critical challenge in the management of Type 1 Diabetes (T1D), where endogenous insulin production is impaired. This study presents a comprehensive comparative analysis of various classical control strategies for glucose regulation, based on the Bergman Minimal Model. We evaluate the performance of Proportional (P), Proportional-Integral (PI), Proportional-Derivative (PD), and Proportional-Integral-Derivative (PID) controllers, implemented in both series and parallel configurations.. The system is subjected to physiological disturbances, including meal intake, to simulate real-world conditions. Controller performance is rigorously assessed using a suite of metrics, including the Integral of Absolute Error (IAE), Integral of Squared Error (ISE), Integral of Time-weighted Absolute Error (ITAE), Integral of Time-weighted Squared Error (ITSE), and Integral of Control Effort (ICE), alongside time-domain specifications such as settling time, overshoot, rise time, and steady-state error. Our findings indicate that while the series PID controller demonstrates the most effective regulation, it demands a control effort that may be clinically impractical. In contrast, the parallel PID controller provides the best compromise between accuracy, stability, and insulin utilization, making it a more suitable candidate for automated glucose control systems. These results underscore the critical importance of controller structure in biomedical applications and highlight the potential of PID-based designs in the development of future artificial pancreas technologies The investigated system with applied different control strategy is implemented in MATLAB.