Sliding Mode Control For Heartbeat Electrocardiogram Tracking Problem

Document Type : Research Paper


School of Chemical Engineering, College of Engineering, University of Tehran, Tehran, Iran


In this paper, we have exploited the first-order sliding mode control method to track the ECG data of the human heart by three different nonlinear control laws. In order to lessen the intrinsic chattering of the classic sliding mode control system, smooth function approximations of the control input, by means of the hyperbolic tangent and the saturation function, were used. The fast Fourier transform was used to evaluate the average chattering frequency of the control inputs. The synthesized control schemes namely SMC-sign, SMC-tanh, and SMC-sat, were able to track the real-world ECG signal with an average root mean square error of 0.0306 and a chattering frequency of 92.7 Hz. The findings show that the sliding mode controllers can be implemented in electronic artificial pacemakers to provide the intended results successfully. Based on today's electronics, the involved frequency range (556.4 Hz for the worst case) is quite acceptable and practical.   


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