A robust control design for heart rate tracking during exercise.

In this study, a control design is proposed for the tracking control of heart rate response during treadmill exercise. The controller tracks an exerciser's heart rate to a given heart rate profile, that may represent a prescribed exercise protocol, by varying the speed of the treadmill. A guaranteed cost control approach is adopted in the control design so that the controller guarantees a certain level of performance. The effectiveness of the proposed control design is demonstrated via a simulation study. The controller will be useful in the design of exercise protocols for individuals.