A Robust Approach to the Design of Milling Circuit Control Systems in the Presence of Modelling Errors

The problems encountered in the design of control systems for milling cir- cuits when the model of the system and the model parameters are uncertain are discussed. Considering these uncertainty factors has led to the development of a technique that gives a quantitative assessment of real system stability, reveals the trade-offs between performance and stability and helps the designer in deciding what level of model complexity to use in the controller design. Furthermore, it allows for on- or off-line optimization of the milling circuit performance as it provides the base for the design of a controller which is stable over the plant operating range.