Abstract: Exemplary embodiments relate to automated medicament delivery (AMD) devices. Such devices may measure the level of an analyte and deliver medicament with the intent of maintaining the analyte at a target level or in a target range. The described methods and apparatuses apply a model to evaluate an effect of proposed future medicament doses on predicted analyte levels. The proposed future medicament doses and predicted analyte levels may be supplied to a cost function to select which of the proposed future medicament dose schedules results in optimal control of the predicted analyte levels. The cost function may apply a weighting scheme that weighs predictions in the near- and/or medium-term future more than longer-term predictions.