Offset-Free Explicit Hybrid Model Predictive Control of Intravenous Anaesthesia

The paper describes strategies for the control of intravenous depth of anaesthesia for the induction and maintenance phase, based on a detailed compartmental model composed of a pharmacokinetic and a pharmacodynamic model. The system can be described in a piece-wise affine fashion, leading to a hybrid model predictive control problem, which is solved explicitly via the solution of a multi-parametric mixed integer quadratic programming problem. Two model predictive control strategies are presented: an explicit hybrid model predictive strategy and a robust explicit hybrid model predictive strategy that uses a robust reference tracking algorithm. The control strategies are successfully tested on a set of 7 patients.