Dual particle filters for state and parameter estimation with application to a run-of-mine ore mill

Measurements are not readily available for grinding mills owing to the nature of the milling operation. State and parameter estimation for a grinding mill which forms part of a run-of-mine ore milling circuit has been implemented. These estimates may then be used in an advanced control algorithm. The estimation was done with dual particle filters as well as with a simultaneous estimation scheme, on simulated data, to compare the performances. The sensitivity analyses for the different schemes show the class of systems in which dual estimation may produce superior results.