PDF Throughput and product quality control for a grinding mill circuit using
to an industrial semiautogenous (SAG) mill in Craig and MacLeod (1995, 1996), and the linear model predictive control for an industrial ball mill circuit in Chen et al. (2007). A robust nonlinear model predictive controller (RNMPC) was proposed by Coetzee et al. (2010) to control a ROM ore milling circuit. Full state feedback was assumed.