Coetzee, Loutjie C.Craig, Ian KeithKerrigan, Eric C.2010-11-192010-11-192010-01Coetzee, LC, Craig, IK & Kerrigan, EC 2010, 'Robust Nonlinear Model Predictive Control of a Run-of-Mine Ore Milling Circuit', IEEE Transactions on Control Systems Technology, vol. 18, no. 1, pp. 222-229. [http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=87]1063-653610.1109/TCST.2009.2014641http://hdl.handle.net/2263/15335This brief investigates the feasibility of applying a robust nonlinear model predictive controller to a run-of-mine ore milling circuit, and the conditions under which such a controller might be worthwhile implementing. The run-of-mine ore milling circuit model used consists of nonlinear modules for the individual components of the milling circuit, allowing for arbitrary milling circuit configurations to be modeled. The model is cast into a robust nonlinear model predictive control framework, and a practically motivated simulation of the mill model being controlled by an robust nonlinear model predictive control (RNMPC) controller is presented. Issues related to implementing such a controller are investigated.en© 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.Grinding millMilling circuitProcess controlRobust nonlinear model predictive control (RNMPC)Run-of-mine (ROM) oreRobust controlPredictive controlNonlinear control theoryMilling-machines -- Numerical controlArticle