Abstract
A new approach to the problem of analyzing an INA control system for a milling circuit is described. An INA controller is designed for an industrial milling circuit, after which the controller and mill model is formalized in terms of a general linear system analysis framework, μ-analysis is then applied to the closed-loop system to determine the robustness of the controller to mill model variations. The μ-analysis indicates that modifications to the controller are required for it to be more robust to model variations. The modified INA controller is found to have much improved robustness properties, and to perform well on an industrial milling circuit.
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