RNMPC Applied to a Nonlinear Model of a ROM Ore Milling Circuit

This paper presents simulation results of applying robust nonlinear model predictive control (RNMPC) to a nonlinear model of a run-of-mine (ROM) ore milling circuit. The model consists of nonlinear modules for the individual process units of the milling circuit, which allow arbitrary milling circuit configurations to be modelled. This study aims to cast a complex problem of a run-of-mine ore milling circuit into a robust nonlinear model predictive control framework without losing the flexibility of the modularised nonlinear model and implement the robust nonlinear model predictive controller using open-source software modules.