Question: In a rehabilitation training experiment for a neurological patient, a step change in treadmill speed of +2.5 km/h was made. The patient heart rate response

In a rehabilitation training experiment for a neurological patient, a step change in treadmill speed of +2.5 km/h was made. The patient heart rate response HR is given in Fig. E23.4.
(a) Derive an appropriate first-order-plus-time-delay model for the patient dynamics.
(b) The doctors wish to control the patient€™s heart rate to a nearly constant value by adjusting treadmill speed. Using the IMC tuning rules, design a suitable PI controller for this patient. Simulate the response of the controller for a step change in the HR of +10 bpm. Calculate the settling time, overshoot, and rise time for the controller. Do these values seem reasonable for a medical application?
(c) How would you improve the procedure for fitting the patient€™s initial dynamics?

2.5 86 84 82 80 78 * 76 74 72 70 2.5 3 3.5 4.5 5.5 6. 6.5 Time (min) Figure E23.4 [yuy] a HR [bpm]

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