A method for determining insulin dosing recommendation comprising: measuring blood glucose concentration in a patient at multiple actuation times； applying an adaptive observer scheme to estimate a present physiological state of a patient based on the measurements of blood glucose concentration in the patient, wherein the adaptive observer scheme models the present physiological state of the patient using a dynamic model； and applying the estimated physiological state to a Linear Quadratic regulator to determine an insulin dosing recommendation based on the present physiological state so estimated.
