Zahra Mokhtare - Electrical Engineering Department, Zanjan University, Zanjan, Iran
Farhad Bayat - Electrical Engineering Department, Zanjan University, Zanjan, Iran

control of the ball mill circuit always has been considered. Control of this system increasesproduction efficiency and also reduces production costs. Ball mill grinding is a multi-input multi-output(MIMO) system. Based on a four-input- four output model, the unconstrained model predictive controller isdesigned. In this paper, a model predictive controller (MPC) based on the CARIMA model is used to controlthe process. The model of the ball mill circuit is described. The proposed controller performs well in trackingreference signals. The proposed method in the presence of noise can also work well. The effectiveness of theproposed method has been shown in the simulation result.

ball mill, MIMO, unconstrained predictive controller, MPC, CARIMA model