A cardiac pacemaker which delivers stimulation pulses to the heart on expiration of escape intervals following previously delivered pacing pulses or sensed cardiac events. The duration of the escape interval defined by the pacemaker is varied as a function of a series of cardiac cycles preceding the sensed or paced event initiating the escape interval. In particular, the escape interval is set to be equal to the length of the cardiac cycle immediately preceding the sensed event or delivered pacing pulse, plus an increment of time determined as a function of one or more cardiac cycles preceding the cardiac cycle immediately prior to the sensed event or delivered pacing pulse initiating the escape interval.
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