Treadmill System Configuration and Robust Control for Rehabilitation of Heart Disease Patients

The heart rehabilitation exercise is performed considering frequency, intensity, time(duration), and mainly carries out aerobic exercise using treadmill and ergometer. The cardiac rehabilitation exercise used by the treadmill is to maintain the patient's heart rate within the target heart rate range for a certain period of time by adjusting the speed and slope of the treadmill. Since the patient's heart rate changes according to the severity of the disease and the use of medication, a transfer function model and a robust controller design are required for each patient. This paper describes the configuration of a human heart rate control system using a treadmill and the application of a sliding mode control with sliding perturbation observer (SMCSPO). The linear component of the heart rate model needed for the robust controller implementation was obtained using signal compression method.