New approach to milling circuit control—robust inverse Nyquist array design

The aim of this paper is to present an application of robust inverse Nyquist array control design method to a milling circuit in Majdanpek Copper Mine. An existent model of a milling circuit was adopted to respond to robust inverse Nyquist array methodology demand by introducing model uncertainty, and optimal robust controller of milling circuit is designed. The proposed controller is robust for reference signals. The robustness of multivariable feedback systems with designed controller is tested and compared with different, previously designed multivariable controllers. Simulation results, in time domain, demonstrate the preferable performance of the designed robust controller in setpoint tracking. Implementation of the new controller without any investments in new equipment significantly improves performance of the milling process.