Identification and robust control of heart rate during treadmill exercise at large speed ranges

Ali Esmaeili, Asier Ibeas, Jorge Herrera, Nazila Esmaeili

Research output: Contribution to journalArticleResearch

2 Citations (Scopus)


© 2019, Control Engineering and Applied Informatics Journal. The objective of this paper is to design a heart rate (HR) controller for a treadmill so that the HR of an individual running on it tracks a pre-specified, potentially time-varying profile specified by doctors for the cardiac recovery of the person. Initially, a parameter estimation algorithm is presented with the aim of estimating the values of the parameters of a model relating the speed of the treadmill with the HR of an individual. The parameter estimation problem is formulated as an optimization one and solved by using Particle Swarm Optimization (PSO). Afterwards, a super- twisting sliding mode controller is designed to perform the robust control of treadmill's speed in the presence of potential unmodelled dynamics or parametric uncertainties. Numerical examples show that the estimation procedure is able to obtain accurate values for the system's parameters while the proposed control approach is able to obtain zero tracking error without chattering, definitely achieving the control objectives. In both cases the range of treadmill's speed goes from 2 to 14 km/h, range that is not usually employed in previous studies.
Original languageEnglish
Pages (from-to)51-60
JournalControl Engineering and Applied Informatics
Issue number1
Publication statusPublished - 1 Jan 2019


  • Heart rate control
  • PSO Identification of nonlinear systems
  • Super-twisting sliding mode control


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