Design of a Robust MPC for Copper Recovery in an Industrial Flotation Column

R. Rivas-Perez, J. Sotomayor-Moriano, C. G. Perez-Zuñiga, J. Ccarita

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper presents the design of a RMPC (Robust Model Predictive Controller) for effective control of the copper recovery in an industrial flotation column. Copper ore properties vary frequently causing uncertainties and disturbances in the dynamics of the recovery process in the flotation column. Using the system identification tools, a MIMO model of this plant was achieved, whose validation results exhibited adequacy degrees of 88.21% for froth depth, and 87.32% for air holdup. The design of the RMPC was carried out based on the nominal MIMO model and its obtained uncertainties. It was demonstrated that the designed RMPC makes it possible to control the process with high precision under various industrial operation scenarios. The simulation results of the control system designed with the RMPC and the GPC (Generalized Predictive Controller) revealed an improved performance when using the RMPC.

Original languageEnglish
Title of host publicationIFAC-PapersOnLine
EditorsHideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
PublisherElsevier B.V.
Number of pages6
ISBN (Electronic)9781713872344
StatePublished - 1 Jul 2023
Event22nd IFAC World Congress - Yokohama, Japan
Duration: 9 Jul 202314 Jul 2023

Publication series

ISSN (Electronic)2405-8963


Conference22nd IFAC World Congress


  • Robust control
  • additive uncertainties
  • column flotation cell
  • copper recovery process
  • min-max approach
  • predictive control
  • system identification


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