Optimal PID Based Computed Torque Control of Tumor Growth Models

Bence G. Czakó, Johanna Sápi, L. Kovács

Research output: Contribution to journalArticle


In the past few decades cancer research has delivered several new treatment options, of which can be highly expensive thus reducing its applicability in medical practice. However, advances in control engineering can tackle this issue by the use of an appropriate optimal controller. In this paper a Computed Torque Control (CTC) based PID controller was designed for the Hahnfeldt tumor growth model which can provide an optimal administration protocol for every individual patient. The paper contains the system model in conjunction with the detailed design steps of the controller. The control strategy was tested by numerical simulations which can be found at the end of the paper together with the conclusions.

Original languageEnglish
Pages (from-to)900-905
Number of pages6
Issue number4
Publication statusPublished - Jan 1 2018



  • Computed Torque Control
  • Hahnfeldt Model
  • LQR tuning
  • PID Control
  • Tumor Growth Model

ASJC Scopus subject areas

  • Control and Systems Engineering

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