# Identification, Control, and Characterization of Peristaltic Pumps in Hemodialysis Machines
## 3 Analysis of Results
### Validation
 } \\ \hline \multirow{4}{*}{20–100} & 55 & 59 & 55 & 4.33 & 0 & 0.9270 & 1.0000 \\  & 90 & 96.00 & 90 & 6.00 & 0 & 0.9375 & 1.0000 \\  & 95 & 101.00 & 94 & 6.00 & 1 & 0.9406 & 1.0106 \\  & 100 & 106.00 & 100 & 6.00 & 0 & 0.9434 & 1.0000 \\ \hline \multirow{4}{*}{100–200} & 110 & 117.00 & 112 & 7.00 & 2 & 0.9402 & 0.9821 \\  & 140 & 150.00 & 138 & 10.00 & 2 & 0.9333 & 1.0145 \\  & 185 & 195.00 & 182 & 10.00 & 3 & 0.9487 & 1.0165 \\  & 195 & 205.00 & 195 & 10.00 & 0 & 0.9512 & 1.0000 \\ \hline \multirow{4}{*}{200–300} & 220 & 231.00 & 214 & 11.00 & 6 & 0.9524 & 1.0280 \\  & 265 & 275.00 & 268 & 10.00 & 2 & 0.9636 & 0.9888 \\  & 280 & 290.00 & 280 & 10.00 & 0 & 0.9655 & 1.0000 \\  & 290 & 300 & 290 & 10.50 & 0 & 0.9651 & 1.0000 \\ \hline \multirow{4}{*}{300–400} & 300 & 290.00 & 300 & 10.00 & 0 & 1.0345 & 1.0000 \\  & 325 & 320 & 325 & 5.00 & 0 & 1.0140 & 1.0000 \\  & 350 & 350.00 & 355 & 0.00 & 5 & 1.0000 & 0.9859 \\  & 380 & 385.00 & 385 & 5.00 & 5 & 0.9870 & 0.9870 \\ \hline \multirow{4}{*}{400–500} & 410 & 425.00 & 420 & 15.00 & 10 & 0.9647 & 0.9762 \\  & 440 & 455.00 & 450 & 15.00 & 10 & 0.9670 & 0.9778 \\  & 460 & 475.00 & 470 & 15.00 & 10 & 0.9684 & 0.9787 \\  & 480 & 490.00 & 490 & 10.00 & 10 & 0.9796 & 0.9796 \\ \hline \multirow{4}{*}{500–600} & 505 & 510.00 & 510 & 5.00 & 5 & 0.9902 & 0.9902 \\  & 530 & 530.00 & 535 & 0.00 & 5 & 1.0000 & 0.9907 \\ \cline{1-1}  & 565 & 550.00 & 575 & 15.00 & 10 & 1.0273 & 0.9826 \\ \cline{1-1}  & 600 & 580.00 & 610 & 20.00 & 10 & 1.0172 & 0.9836 \\ \hline \multicolumn{2}{c}{Average} & & & 8.9929 & 4.0000 & 0.9723 & 0.9947 \\ \hline \multicolumn{2}{c}{Complement} & & & & & 2.6582\% & 0.5296 \\ \cline{1-1}  & & & & & & & \\ \cline{1-1}  & & & & & & & \\ \cline{1-1}  & & & & & & & \\ \cline{1-1}  & & & & & & \\ \cline{1-1}  & &  
control system is more effective at maintaining the setpoint flow rate, particularly at higher flows where precise control is essential. Moreover, while the reference machine exhibits ratio values as low as 0.9270 at lower flow rates and slight excesses at specific higher set points (e.g., 1.0345 at 300 mL/min), our control system maintains a consistent ratio close to 1:1 across all tested points. Furthermore, the complement of the ratio values (2.6582% for the reference machine vs. 0.5296% for our control system) provides additional confirmation that our system achieves significantly higher accuracy and stability, with deviations that are nearly five times lower than those of the reference machine. These findings indicate that our control system may offer a more reliable and consistent solution for hemodialysis, maintaining precise flow rates that are critical for patient safety and treatment effectiveness. It is also of significance to consider the system's response across a range of flow rates, with particular attention paid to its performance at the upper and lower limits of the operational range. The data indicates that the control system exhibits high accuracy and low deviation at both low and high flow rates, thereby demonstrating robust performance across the entire range. This characteristic is of particular importance in applications such as hemodialysis, where the system must operate in a reliable and consistent manner, even when subjected to fine adjustments at lower flow rates, and must also be capable of handling higher flow rates without significant deviation. The consistency in the performance of our control system across these ranges serves to highlight both its adaptability and reliability, rendering it particularly well suited to scenarios that require stable performance across varying conditions. Moreover, the effectiveness of the controller in experimental settings is yet to be determined. The control system displays rapid responsiveness to setpoints, thereby maintaining stability even in the presence of potential fluctuations or disturbances that may arise in practical applications.