Closed loop system for controlling insulin infusion

A method of infusing insulin into a body of a user, the method comprising:

• obtaining a blood glucose concentration of the user;
• generating a controller input based on the blood glucose concentration;
• and
• generating infusion commands by a proportional plus, integral plus, derivative (PID) controller from the controller input using at least one preset controller gain;
• wherein the at least one preset controller gain includes at least one tuning parameter that further modifies the infusion commands generated by the PID controller to create an insulin concentration profile that more closely resembles the insulin concentration profile that would be generated by the release of insulin by beta cells in an individual with a healthy normally functioning pancreas;
• and
• wherein the at least one tuning parameter is a lead/lag compensator.

A method of infUsing insulin into a body of a user, the method comprising:

• obtaining a blood glucose concentration of the user;
• generating a controller input based on the blood glucose concentration;
• and
• generating infusion commands by a proportional plus, integral plus, derivative (PID) controller from the controller input using at least one preset controller gain;
• wherein the at least one preset controller gain includes at least one tuning parameter that further modifies the infUsion commands generated by the PID controller to create an insulin concentration profile that more closely resembles the insulin concentration profile that would be generated by the release of insulin by beta cells in an individual with a healthy normally functioning pancreas;
• and
• wherein the at least one tuning parameter is an integrator clip.