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The heart rate regulation problem is addressed for the well-known second order nonlinear model of the human heart rate response during treadmill/cycle-ergometer exercises. The mainly restrictive stability & global attractivity constraint in the literature, being constituted by an inequality involving four constant parameters of such a nonlinear model, is definitely removed. Nonlinear analytical arguments and design steps are innovatively presented to achieve heart rate regulation when model parameters satisfy the so-called 'instability constraint', with just stability & local attractivity properties being involved. Experimental results are included to illustrate all the theoretical derivations. [ABSTRACT FROM AUTHOR]