Assessment and Future Directions of Nonlinear Model Predictive ...

Receding-Horizon Estimation and Control of Ball Mill Circuits 493Figure 6 shows that this kind of compensation significantly improves the performanceof the control scheme under parametric uncertainties.5 ConclusionIn this paper, a receding-horizon observer and a receding-horizon controller aredesigned for a ball mill circuit. The software sensor provides an estimation of theparticle size distribution inside the ball mill, based on a nonlinear process modeland a few measurements available at the mill exit. The control scheme allows efficientquality control and setpoint changes, even in the face of noisy measurementsand significant parametric uncertainties. In addition, a DMC-like compensationof these latter errors improves the performance of the proposed scheme.References[1] Allgöwer F., Badgwell T.A., Qin J.S., Rawlings J.B., Wright S.J. (1999) Nonlinearpredictive control and moving horizon estimation - an introduction overview. In:Frank P.M. (ed) Advances in Control (Highlights of ECC ’99). Springer, LondonBerlin Heidelberg[2] Boulvin M. (2000) Contribution àlamodélisation dynamique, à la simulation età la conduite des circuits de broyage à boulets utilisés en cimenterie. PhD Thesis,Faculté Polytechnique de Mons, Mons (Belgium)[3] Boulvin M., Vande Wouwer A., Lepore R., Renotte C., Remy M. (2003) IEEEtransactions on control systems technology 11(5):715–725[4] Grognard F., Jadot F., Bastin G., Sepulchre R., Wertz V. (2001) IEEE Transactionson Automatic Control 46(4):618–623[5] Lepore R., Vande Wouwer A., Remy M. (2002) Modeling and predictive controlof cement grinding circuits. 15th IFAC World Congress on Automatic Control,Barcelona, Spain[6] Lepore R., Vande Wouwer A., Remy M. (2003) Nonlinear model predictive controlof cement grinding circuits. ADCHEM 2003, Hong-Kong, China[7] Lepore R., Vande Wouwer A., Remy M., Bogaerts Ph. (2004) State and parameterestimation in cement grinding circuits - practical aspects. DYCOPS 7 2004,Cambridge (MA), U.S.A.[8] Maciejowski J.M. (2001). Predictive control: with constraints. Prentice Hall[9] Magni L., Bastin G. and Wertz V. (1999) IEEE transactions on control systemstechnology 7(4):502–508[10] Olivier L. (2002) Contribution à la conduite des circuits de broyage àbouletsutilisés en cimenterie. MA Thesis. Faculté Polytechnique de Mons, Mons[11] Rao C.V. (1999) Moving-horizon estimation of constrained and nonlinear systems.PhD Thesis. University of Wisconsin-Madison, Madison[12] Van Breusegem V., Chen L., Bastin G., Wertz V., Werbrouck V., de Pierpont C.(1996) IEEE Transactions on Industry Applications 32(3):670–677[13] Vande Wouwer A., Saucez P., Schiesser W.E. (2004) Industrial Engineering andChemistry Research 43(14):3469–3477