Dual particle filters for state and parameter estimation with application to a run-of-mine ore mill

► We explain the concept of dual particle filtering for state and parameter estimation. ► Dual particle filters are implemented on a run-of-mine ore mill. ► The state and parameter estimates for the mill can be used in an advanced control strategy. ► A sensitivity analysis is done and indicates the class of systems for which dual estimation produces superior results to simultaneous estimation. ► Estimation results show that for this system dual estimation produces superior results.