Output-Feedback Tracking for Tumour Motion Compensation in Adaptive Radiotherapy

Devi Putra, Piotr Skworcow, Olivier C.L Haas, Keith J. Burnham, John A. Mills

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

9 Citations (Scopus)


This paper considers a compensation strategy for tumour motion caused by respiration and patient movements during radiotherapy treatments using a controlled patient support system (PSS). An output-feedback model predictive control (MPC) scheme for the PSS to track the tumour motion is proposed. The MPC controller utilizes predicted tumour positions, which are calculated by a Kalman filter, as reference signals and estimated position and velocity of the PSS, which are obtained from a state observer, as feedback signals. Simulation results using a clinical data set consisting of 100 traces of lung-cancer patient respiratory motion demonstrate the applicability of the proposed control strategy.
Original languageEnglish
Title of host publicationAmerican Control Conference, 2007. ACC '07
Pages3414 - 3419
Number of pages6
ISBN (Print)1-4244-0988-8
Publication statusPublished - Jul 2007
Event2007 American Control Conference - New York, United States
Duration: 9 Jul 200713 Jul 2007

Publication series

ISSN (Print)0743-1619
ISSN (Electronic)2378-5861


Conference2007 American Control Conference
CountryUnited States
CityNew York

Bibliographical note

This conference paper is not yet available on the repository. The paper was given at the American Control Conference, 2007 (ACC '07), New York, 9-13 July 2007


  • Kalman filter
  • adaptive radiotherapy treatment
  • clinical data set
  • controlled patient support system
  • feedback signal
  • lung-cancer patient respiratory motion
  • output-feedback model predictive control
  • output-feedback tracking
  • patient movement
  • reference signal
  • respiration movement
  • state observer
  • tumour motion compensation
  • tumour position

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