Cardiac output is the volume of blood pumped by each ventricle per minute. It is calculated as stroke volume multiplied by heart rate. Normal cardiac output is 5 liters per minute. Cardiac output is regulated by factors that influence stroke volume and heart rate. Stroke volume depends on end diastolic volume and end systolic volume. Heart rate is controlled by the autonomic nervous system, including the parasympathetic and sympathetic nerves, as well as the vasomotor center in the medulla. Parasympathetic stimulation decreases heart rate while sympathetic stimulation increases it.