Robust Fuzzy Sliding Mode Control for ECG-Based Cardiac Pacemakers

Robust Fuzzy Sliding Mode Control for ECG-Based Cardiac Pacemakers | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Robust Fuzzy Sliding Mode Control for ECG-Based Cardiac Pacemakers Ayitenew Ayele Aniley, Anteneh Nebyu Alemayehu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7917040/v1 This work is licensed under a CC BY 4.0 License Status: Under Revision Version 1 posted 14 You are reading this latest preprint version Abstract Implantable cardiac pacemakers help to keep the heart rhythm stable by detecting and activating heartbeats as needed. This study introduces a nonlinear control that functions as a pacemaker. A sliding mode controller (SMC) is used to track ECG data precisely, and fuzzy logic is used to reduce the high-frequency oscillations (chattering) that are generally associated with SMC, hence increasing device longevity. The end product is a fuzzy sliding mode controller (FSMC) that can reliably monitor ECG signals. The controller's resilience is tested under a variety of conditions, such as neural signal disruptions, parameter fluctuations, and sensor delays. Simulations with MATLAB/Simulink and real-world patient data from MIT-BIH and PhysioNet validate the method's effectiveness. FSMC significantly reduced chattering, lowered the RMSE by \(\:5\text{*}{10}^{-5}\) %, as well as improved THD by 121.35% over standard SMC. These findings indicate that the FSMC approach is a promising option for future clinical usage in sophisticated dual-sensor pacemaker systems. Health sciences/Cardiology Physical sciences/Engineering Pacemaker Chattering phenomenon Human heart Fuzzy sliding mode controller Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Revision Version 1 posted Editorial decision: Revision requested 16 Mar, 2026 Reviews received at journal 13 Mar, 2026 Reviews received at journal 09 Mar, 2026 Reviews received at journal 04 Mar, 2026 Reviewers agreed at journal 04 Mar, 2026 Reviewers agreed at journal 03 Mar, 2026 Reviewers agreed at journal 02 Mar, 2026 Reviewers agreed at journal 19 Feb, 2026 Reviewers agreed at journal 18 Feb, 2026 Reviewers invited by journal 18 Feb, 2026 Editor invited by journal 29 Oct, 2025 Editor assigned by journal 27 Oct, 2025 Submission checks completed at journal 27 Oct, 2025 First submitted to journal 21 Oct, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7917040","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":594734171,"identity":"8fb2f916-a519-4809-a988-0f8a072259c8","order_by":0,"name":"Ayitenew Ayele Aniley","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABGklEQVRIiWNgGAWjYFACxgYE+wGDDYTLg19LI0JPAkMaQgsebUjWJDAcJqyFf0Zy+4OPO2wSG9jPGD5IqDgvu3ZGAuODt20McvY4tEjcSGxsnHkmLbGBJ8fYIOHMbeNtNxKYDee2MRjjdBhQSzNv2+HcBoYcM4nEttuJQC1s0rxtDIk9OHTIg7T8bfuf28D/xvxH4r9zIC3sv4Fa6nFpMQBpYWw7kNsgkWPGkNhwAGwLM1BLAi6HGZ552Dizty25vkHiWbFEwrFk421nHjZLzjknYdhzALsWuePpDz78bLMzZuBP3vjhQ42d7LbjyQc/vCmzkWdvwGGNQAKEtj/AYQAVAkeNBA71QMAPt579AW5Vo2AUjIJRMKIBAAI3ZUeJyk42AAAAAElFTkSuQmCC","orcid":"","institution":"Debre Markos University","correspondingAuthor":true,"prefix":"","firstName":"Ayitenew","middleName":"Ayele","lastName":"Aniley","suffix":""},{"id":594734173,"identity":"6aa6a097-fde2-4e0e-af3f-da08ec6e2b5c","order_by":1,"name":"Anteneh Nebyu Alemayehu","email":"","orcid":"","institution":"Debre Markos University","correspondingAuthor":false,"prefix":"","firstName":"Anteneh","middleName":"Nebyu","lastName":"Alemayehu","suffix":""}],"badges":[],"createdAt":"2025-10-22 08:08:41","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7917040/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7917040/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":103505965,"identity":"9af611bf-657e-4955-9d99-1b326e1ab117","added_by":"auto","created_at":"2026-02-26 13:33:39","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":898122,"visible":true,"origin":"","legend":"","description":"","filename":"FirstRevisedRobustFuzzySlidingModeControlforECGBasedCardiacPacemakers.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7917040/v1_covered_52f70dba-4581-42da-9b42-835c8aa4ffab.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Robust Fuzzy Sliding Mode Control for ECG-Based Cardiac Pacemakers","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Pacemaker, Chattering phenomenon, Human heart, Fuzzy sliding mode controller","lastPublishedDoi":"10.21203/rs.3.rs-7917040/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7917040/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eImplantable cardiac pacemakers help to keep the heart rhythm stable by detecting and activating heartbeats as needed. This study introduces a nonlinear control that functions as a pacemaker. A sliding mode controller (SMC) is used to track ECG data precisely, and fuzzy logic is used to reduce the high-frequency oscillations (chattering) that are generally associated with SMC, hence increasing device longevity. The end product is a fuzzy sliding mode controller (FSMC) that can reliably monitor ECG signals. The controller's resilience is tested under a variety of conditions, such as neural signal disruptions, parameter fluctuations, and sensor delays. Simulations with MATLAB/Simulink and real-world patient data from MIT-BIH and PhysioNet validate the method's effectiveness. FSMC significantly reduced chattering, lowered the RMSE by \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:5\\text{*}{10}^{-5}\\)\u003c/span\u003e\u003c/span\u003e%, as well as improved THD by 121.35% over standard SMC. 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