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By D. Leppert

Mr. Garrett brings up several interesting points with respect to the proposed API specification for "nontreated bentonite." However, although not explicitly stated, these specifications are being written based strictly on bentonites from the Wyoming/South Dakota area. Other sodium bentonites may be suitable for use as drill mud but will be unacceptable since the specifications are designed for Wyoming bentonites. Regardless of the API's intent that its specifications are intended only as guidelines, they are generally adhered to on an international basis and, for practical purposes, might as well be chiseled in stone. Estes (1986) notes that the quality of bentonite available from Wyoming producers has steadily declined since the early 1960's. The plastic viscosity: yield point (PV:YP) ratio was included in the current API 13A specification primarily to prevent excessive polymer treatment of lower quality bentonites to make drill mud. However, with development of polymers designed to control YP, this specification cannot ensure that only high-quality bentonites are used for drill mud. Nor will the new specifications for untreated bentonites. Other sodium bentonites are available. Bentonite produced in southeast Oregon demonstrates superior performance characteristics without addition of polymer or other chemicals. However, the exceptionally high purity of these deposits leads to a relatively high YP:PV ratio since the naturally high YP probably results from the higher purity and smaller particle size of this bentonite (Rath, 1986 and personal communication). These bentonites typically have a smectite component exceeding 90% (Rath, 1985), compared with 70% to 75% smectite for typical Wyoming bentonites, as determined by X¬ray diffraction and tests for colloid content. As evident from the accompanying table, the untreated Oregon bentonite has excellent rheological properties, though different from Wyoming bentonites due to the high purity. Additionally, this bentonite reacts well with polymers typically used in the oil industry, making it eminently suitable for use in a low-solids mud system. The extremely low grit content, less that 0.5% on a 75 mm (200-mesh) wet sieve, greatly exceeds the standards set for Wyoming bentonite. Optimum rheological properties are obtained at a higher moisture content than Wyoming bentonites. At 10% moisture, API 13A maximum, the clay is overdried, again reflecting the high smectite content. In summary, the specifications proposed by the API Task Group will ensure that only Wyoming producers can supply "nontreated" bentonite to the oilfield since specifications are

Jan 1, 1989

By Mokhinabonu Mardonova, Yosoon Choi

Open-source technology for supporting the Industry 4.0 has become the target of academic research in many sectors. This study reviewed the trends of open-source technology, its forms, and some industrial applications. As a case study using open-source hardware and software for the mining industry, this study proposed a low-cost environmental monitoring system for non-metallic underground mines to support mine safety and occupational health issues. The system was developed using open-source hardware, Arduino and 3D printer, to design the monitoring device. An open-source software, MIT App Inventor, was used for developing an Android application for smartphones to enable remote communication with the system. Field experiments were conducted at an underground tunnel and a non-metallic underground mining site to assess the performance of the system in both mobile and static modes, respectively. Although a few limitations related to the precision of the low-cost dust and gas sensors still exist, the findings of the experiments show that the mining industry can benefit from open-source technology deployment when considering cost factors

By Mokhinabonu Mardonova, Yosoon Choi

Open-source technology for supporting the Industry 4.0 has become the target of academic research in many sectors. This study reviewed the trends of open-source technology, its forms, and some industrial applications. As a case study using open-source hardware and software for the mining industry, this study proposed a low-cost environmental monitoring system for non-metallic underground mines to support mine safety and occupational health issues. The system was developed using open-source hardware, Arduino and 3D printer, to design the monitoring device. An open-source software, MIT App Inventor, was used for developing an Android application for smartphones to enable remote communication with the system. Field experiments were conducted at an underground tunnel and a non-metallic underground mining site to assess the performance of the system in both mobile and static modes, respectively. Although a few limitations related to the precision of the low-cost dust and gas sensors still exist, the findings of the experiments show that the mining industry can benefit from open-source technology deployment when considering cost factors

By Terry W. Mellors, Robert J. F. Goodfellow

The underground industry has been forced to reconsider risk management sincethe introduction and implementation of the “Joint Code of Practice for Risk Management of Underground Works in the UK” published in 2003 and the subsequent international version published by the ‘International Tunneling Insurance Group’ (ITIG) in January 2006.What does this mean for major tunnel projects in the US and elsewhere? The discussion will highlight the implementation of the Codes to date, risk management principles embodied in the Codes and the use of risk registers as a projectmanagement tool and the management of risk.

Jan 1, 2007

By M. Sadegh Safarzadeh, Stanley M. Howard

The two-dimensional predominance area (Kellogg) diagram (PAD) surfaces bounding the three-dimensional Cu-As-S-O system were constructed at 900 K. The computations employed gases As4O6(g), O2(g), and SO2(g) as the independent coordinate species to generate diagrams of As4O6(g) − O2(g),O2(g) − SO2(g), and As4O6(g) − SO2(g), while the third gas (As4O6, O2, or SO2) was fixed. The results indicate that there is no shared boundary between enargite (Cu3AsS4) and copper sulfate (CuSO4); however, at PO2 < 10−6 atm, PAs4O6 < 10−10 atm, and PSO2 > 10−4 atm, CuSO4 is the stable phase at 900 K. The chemical driving force for oxidation of intermediate phases between enargite and copper sulfate is substantial except for basic sulfate (CuO · CuSO4).

By Andrea Koschinsky, Akira Usui, Michael Bau, Katja Schmidt, James Hein, Thomas Kuhn

Marine ferro-manganese (Fe-Mn) crusts and nodules are metal-rich chemical sediments that are archives of paleoceanographic proxies and potential metal resources and targets of deep-sea mining. Traditionally, crusts and nodules are subdivided into hydrogenetic, diagenetic, and hydrothermal types. While hydrogenetic Fe-Mn crusts are a potential resource for Co, Te, Pt, and REY, nodules are enriched in Cu, Ni, Mo, and Li, and hydrothermal deposits may be enriched in individual metals such as Mo, Ba, and Li, depending on the temperature and composition of the hydrothermal fluid. The different types of marine oxidic Fe-Mn precipitates, therefore, have different economic potential. Hence, a robust classification is not only helpful in the general geochemical characterization of such precipitates (and as such is a useful teaching tool, for example), but may also simplify the evaluation of their importance as a potential metal resource, which helps to prioritize exploration targets for deep-sea mining.

Sep 1, 2014

By Arthur M. Langer

Since the promulgation of the first Federal Asbestos Standard by the Occupational Safety and Health Administration in 1972, other federal agencies have modified the standard to better carry on their own unique missions. The instruments used to identify and measure asbestos, the sampling protocol, and the criteria used to define asbestos, have been modified to some degree. The Mine Safety and Health Administration regulates and controls asbestos dust in the mining and mineral commodity industries. However, crushed stone and processed ores contain mineral fragments that are frequently difficult to distinguish from asbestos. Mineral nomenclature, instruments for particle analysis, and sampling strategy must be accommodated to some degree to make asbestos control workable and meaningful. Precedent in other agencies has made consideration of these changes possible. Newly identified amphibole asbestos minerals have further complicated the agency?s regulatory charge. Changes in its Asbestos Standard are now being considered. Crushed taconite ore in the Eastern Mesabi highlights many of these issues. ©2008 Published by Elsevier Inc. Keywords: Amosite; Grunerite asbestos; Crocidolite; Riebeckite asbestos; Tremolite asbestos; Actinolite asbestos; Winchite asbestos; Richterite asbestos; Arfvedsonite asbestos; Fluor-edenite asbestos; Asbestos defects; Cleavage fragment; Mineral habit; Mesabi amphiboles

Jan 1, 2008

By Christy Z. Lueders

Introduction More and more women engineers are joining the traditionally male mining industry. Are they successful? Do they encounter special problems? How do men in mining respond? How can the mining industry effectively use its female resources? What contributes to the success of a woman in mining? What can male engineers do to ease the entry of female professionals into the workforce? An STM survey conducted last spring provided some answers to these questions. All BS graduates in mining, mineral engineering, and extractive metallurgy from 1960-1979 were surveyed. Nearly 60% of the female graduates, from 17 universities, completed questionnaires. The women were asked why they chose mining, how they relate to predominantly male co-workers, what job skills they have gained, and what areas of work they most enjoy. They were also asked how problems of a two-career family are solved. Data were gathered on salaries, titles, specialties, and products handled. Respondents, assured of confidentiality, are identified only by title. Many male mining executives were also questioned for their advice to women in mining. Profile of the Survey Participant The "typical" female mining engineer works with coal, is employed by an operating company, feels she works very hard to prove her abilities, does not want to be treated as an anomaly, and someday wants to be an independent consultant. Of the respondents, 44% listed coal as the most familiar product, 12% said copper, and the rest listed products from industrial chemicals to oil. Titles varied widely but women managers are rarely found. However, the majority of the survey population graduated after 1976 and thus lacks substantial experience. Of 102 female graduates, only 25 graduated before 1977. Since then, there has been a steady increase. The American Association of Engineering Societies reported that in 1980 more than 100 degrees were awarded to women in minerals engineering. Education Highly Valued Twenty-two percent of the women surveyed had graduate degrees, 38% planned further education, and 12% listed a PhD as their goal. The majority of graduate degrees are in technical fields. There were only two MBAs. Five women intended to pursue law degrees, and one woman, with a mining engineering degree and an MBA, is a part-time law student. Along with advanced education, the women agree that production experience is needed for career advancement. However, only 28% of the women have worked in production. Many women, especially younger grads, commented that these are the toughest jobs to get. This is a universal complaint, from males as well as females, though women seem to encounter more opposition. Several women mentioned they were small or slight of build and managers tended to shy away from hiring them for production jobs. Two-Career Marriages The most difficult problem for two-career couples is relocation. Whose career takes priority? Fifty percent of the women said transfers or offers would be examined on a case-by-case basis, weighing pros and cons for both parties. The husband&apos;s career took priority with 47% of the women; their own careers, with 3%. These statistics conflict with comments from two employee relations managers. Both said most female engineers they&apos;ve encountered are married to men who follow their wives&apos; careers. Seventy per cent of the married respondents said their husbands were also engineers. Four said their husbands were engineers at the same company. Some male and female engineers met on the job; others joined the company as a "package deal." Both partners being engineers can ease relocation problems, since an area or company offering one spouse a job can often provide a spot for the other. A company may benefit by getting two new hires for the relocation costs of one. Most companies contacted have policies that allow married couples to work at the same division, but discouraged them from working in the same department. With 40% of today&apos;s marriages ending in divorce, one risk is that one or both parties may quit. One personnel executive said there were several couples, each spouse in a different discipline, who were work¬ing out very well at his division. However, he recognized the potential for problems if, for instance, one gets promoted and the other doesn&apos;t, or salary increases are unequal. The personnel executive said he has actively recruited married couples, and would again, were each person competent.

Jan 10, 1981

By M. Sadegh Safarzadeh, Stanley M. Howard

The two-dimensional predominance area (Kellogg) diagram (PAD) surfaces bounding the three-dimensional Cu-As-S-O system were constructed at 900 K. The computations employed gases As4O6(g), O2(g), and SO2(g) as the independent coordinate species to generate diagrams of As4O6(g) − O2(g),O2(g) − SO2(g), and As4O6(g) − SO2(g), while the third gas (As4O6, O2, or SO2) was fixed. The results indicate that there is no shared boundary between enargite (Cu3AsS4) and copper sulfate (CuSO4); however, at PO2 < 10−6 atm, PAs4O6 < 10−10 atm, and PSO2 > 10−4 atm, CuSO4 is the stable phase at 900 K. The chemical driving force for oxidation of intermediate phases between enargite and copper sulfate is substantial except for basic sulfate (CuO · CuSO4).

By T. Hudaverdi

Control of the particle size distribution of a muckpile after blasting is always an important subject for mining industry. Blasting has a significant impact on downstream processes such as loading, crushing and grinding. Improvement of blasting results provides increase in loader and excavator productivity due to increased diggability capacity, and increased bucket and truck fill factors. Suitable and uniform particle size distribution results increase in crusher and mill throughput and decrease in energy consumption in size reduction process. Digital image analysis technique has been used for many years in mining industry in order to determine blast fragmentation. The images of muckpile surface can be used to determine the mean fragment size (x50). The source of digital images can also be haul truck, leach pile, waste dump, stockpile, and conveyor belt. The screening that is conventional method to measure blast fragmentation is time consuming and expensive. Digital image analysis is a cost effective and faster method (1).

Jan 1, 2012

By Richard Wilson

In the early 1970s, it became a concern that exposure to the mineral fibers associated taconite ore processed in Silver Bay, Minnesota would cause asbestos-related disease including gastrointestinal cancer. At that time data gaps existed which have now been significantly reduced by further research. To further our understanding of the types of airborne fibers in Silver Bay we undertook a geological survey of their source the Peter Mitchell Pit, and found that there are no primary asbestos minerals at a detectable level. However we identified two non-asbestos types of fibrous minerals in very limited geological locales. Air sampling useful for risk assessment was done to determine the type, concentrations and size distribution of the population of airborne fibers around Silver Bay. Approximately 80% of the airborne fibers have elemental compositions consistent with cummingtonite-grunerite and the remaining 20% have elemental compositions in the tremolite-actinolite series. The mean airborne concentration of both fiber types is less than 0.00014 fibers per milliliter that is within the background level reported by the World Health Organization. We calculate the risk of asbestos-related mesothelioma and lung cancer using a variety of different pessimistic assumptions. (i) that all the non-asbestos fibers are as potent as asbestos fibers used in the EPA-IRIS listing for asbestos; with a calculated risk of asbestos-related cancer for environmental exposure at Silver Bay of 1 excess cancer in 28,500 lifetimes (or 35 excess cancers per 1,000,000 lifetimes) and secondly that taconite associated fibers are as potent as chrysotile the least potent form of asbestos. The calculated risk is less than 0.77 excess cancer case in 1,000,000 lifetimes. Finally, we briefly review the epidemiology studies of grunerite asbestos (amosite) focusing on the exposure conditions associated with increased risk of human mesothelioma. © 2008 Elsevier Inc. All rights reserved. Keywords: Risk; Fibers; Particles; Taconite; Asbestos; Exposures

Jan 1, 2007

By Mark E. Emerson

1967 will be remembered as the year the world realized it was running out of silver. In May of this year a new era in tin the history of the white metal was begun as the power of the U.S. Treasury to regulate world .silver markets was staggered by one of the most intense speculative flurries in recent times. In the past few months the price of silver has risen from $1, 29 to over $1.80 per troy ounce and with it have spiraled the prices of a host of silver-bearing consumer items. Legislation has, been enacted to conserve our coinage and meager silver stocks and today large quantities of non-existent silver are trading hands at a fast pace on the commodity exchanges throughout the world. Now that the price of silver has been set loose, forces are in motion to dull the world&apos;s appetite for silver. At the same time there is strong incentive to provide greater quantities of silver to satisfy the world&apos;s hunger&apos; for the metal.

Jan 1, 1967

By Mark A. Jirsa

The Biwabik Iron Formation is a ~1.9 billion year-old sequence of iron-rich sedimentary rocks that was metamorphosed at its eastern- most extent by ~1.1 billion year-old intrusions of the Duluth Complex. The metamorphic recrystallization of iron-formation locally produced iron-rich amphiboles and other fibrous iron-silicate minerals. The presence of these minerals in iron-formation along the eastern part of what is known as the Mesabi Iron Range, and their potential liberation by iron mining has raised environmental health concerns. We describe here the geologic setting and mineralogic composition of the Biwabik Iron Formation in and adjacent to the contact metamorphic aureole of the Duluth Complex. The effects of metamorphism are most pronounced within a few kilometers of the contact, and decrease progressively away from it. The contact aureole has been divided into four metamorphic zones?each characterized by the composition and crystal structure of the metamorphic minerals it contains. The recrystallization of iron-formation to iron-rich amphibole minerals (grunerite and cummingtonite) and iron-pyroxene minerals (hedenbergite and ferrohypersthene) is best developed in zones that are most proximal to the Duluth Complex contact. ©2007 Elsevier Inc. All rights reserved. Keywords: Iron-formation; Mining; Fibrous; Mineralogy; Metamorphism.

Jan 1, 2007

By Hyung Jeek Kim, Jongmin Joo, Jonguk Kim, Jai-Woon Moon, Kyeong-Yong Lee

"Co-rich ferromanganese crusts (Fe-Mn crusts) distributed on seamounts in the western Pacific are potential economic resources for cobalt, nickel, platinum, and other rare metals in the future. Evaluation and selection of a mining site can be established based on abundance and grade of Fe-Mn crusts in the site as well as topography that should be smooth enough for mining operations. Therefore, acquisition of shipboard echo-sounding and acoustic backscatter data are prerequisite to the selection of potential mine sites in addition to visual and sampling operations. Acoustic backscatter data can be used to locate crust-covered areas on a regional scale with the understanding of acoustic properties of crust through its correlation with visual and sampling data.During an expedition that took place from January to March 2014, KIOST collected geophysical and geologic data to assess the resource potential for Fe-Mn crusts on three seamounts (guyots) in the Western Pacific. In OSM11, one of the three surveyed seamounts, three camera tows were performed to observe the distribution of Fe-Mn crusts on the summit and slopes of the seamount. Although sediments of various thicknesses generally cover most of summit region of OSM11, several regions with high backscatter signals occur on the periphery of the summit. The occurrence of Fe-Mn crusts, observed during the camera tows, on those high backscattered regions suggests that the backscatter signals of shipboard multi-beam sonar can reflect changes in the geology of the seafloor from sediment layer to Fe-Mn crust deposits. The Fe-Mn crust deposited around the summit region is worthy of notice because of its topographic characteristics, including shallow depth, flat or gentle inclined surface, and smooth relief, which are more suitable for mining operation compared to the flanks of seamount."

Sep 1, 2014

By Ching-Liu Wu, John Hawley, Andrew H. Liu, James Chai

The Hatch Mott MacDonald/Bechtel Joint Venture team is designer and construction manager for the 5.25-mile Tunnel Segment of the overall 16-mile Silicon ValleyRapid Transit Project, which extends the existing Bay Area Rapid Transit (BART) system southward from Fremont to San Jose. The Tunnel Segment includes twin boredtunnels, mined cross passages, and three deep station excavations situated in highlyvariable ground, high ground water table, and a dense urban setting with high-risebuildings adjacent to the largest excavation. This paper will discuss design challengesthat have arisen with the excavations and the proposed solutions.

Jan 1, 2007

By P. C. Holloway

La Oroya zinc ferrite (19.5% Zn, 26.6% Fe, 0.052% Ga, 0.075% In) was roasted with coal under conditions more oxidizing than normally used in a Waelz kiln, and the roasted residues were leached with 200 g/L H2SO4. Overall zinc recoveries of up to 97% were achieved, with 35% of the zinc reporting to the fume after roasting at 1,100°C with a bituminous coal addition of 20%. Under these conditions, 93.2% of the Cd, 13.4% of the Cu, 33% of the Ga, 61% of the In and 18.2% of the Pb were recovered either in the fume or in the leach solution. At 2006 metal prices, the value of the recovered metals is comparable to that obtained from commercial Waelz kiln processing of this residue. Zinc in the franklinite (ZnFe2O4) mineral is reduced to zinc vapor, and, after oxidation, some of the zinc is found as ZnO or as Zn2SiO4 in the roasted residue. Iron reacts to form either hematite (Fe2O3) or magnetite (Fe3O4), with no metallic iron detected in the roasted residue, and less than 2% of the iron is solubilized during leaching. The residue produced after roasting and leaching is, therefore, much more stable than the residue from Waelz kiln processing and should be suitable for disposal in a landfill.

Jan 1, 2008

By J-P Franzidis

A study was undertaken to determine the effect of five industrial frothers on the relationship between entrainment recovery and water recovery. The experiments were conducted using a Batequip rectangular 60 liter steel cell which was run in parallel with the first cell in a copper/silver prefloat rougher circuit. The concentration of the frothers ranged from 2.5 g/ton to 8.4 g/ton. The experiments were repeated at three different froth depths. A power function was found to fit this relationship with no discontinuity in the relationship caused by the changes in frother type and concentration and froth depth.

Jan 1, 2000

By Gene Mattila, Ron Boyd

Introduction Rock bolting is a general term that encompasses pinning, roof bolting, rib bolting, and cable bolting. Rock bolting contributes the highest nonproductive cost and is the most significant safety risk in mining today. Total installed bolt costs are now more than $20 per bolt. Rebolting or repair work doubles this. And bolting accidents account for about 30% of all fatal and nonfatal lost time accidents. It is only logical, then, for the mine operator to install the highest quality anchors possible. Every bolt on the market - tensioned, untensioned, full contact, or point anchor - has designed capabilities in axial, shear, and fluctuating ground conditions. Bolts will provide a designed support if material specifications and installation procedures fall within the manufacturer&apos;s recommendations. This also assumes that there are no unexpected geological or operational changes. Proper material specifications and installation procedures should guarantee the mine operator a quality anchor. To help assure this, the Mine Safety and Health Administration (MSHA), the US Bureau of Mines (USBM), and the AMC Manufacturers group developed stringent ASTM materials standards. These govern mechanical point anchor bolts and bolts using threaded and nonthreaded rebar. There are also minimum standards that suppliers must comply with in the manufacture of frictional bolts. However, most frictional bolt standards are based on the manufacturer&apos;s own specifications. It would be impossible to set uniform regulations on frictional bolts. Each bolt provides support in a slightly different manner and thereby requires different material needs. Quality Control In any case, material quality can generally be assured through tight order specifications and periodic quality control checks. The problem with installing quality anchors does not solely lie with the material. It includes all the events that occur from the time a bolt leaves a manufacturer to the time it is installed. The anchoring ability of any major type bolt can be affected by transportation, storage, mechanical performance of installation equipment, installation demands of the operator, proper drilling accessories, and local geology. Table 1 and Fig. 1 document the negative events that can affect each bolt and the degree to which it can be affected. Drilling a hole of oversized diameter, for example, is an operator controlled factor. It will adversely affect most bolts. An over-sized diameter reduces, or even eliminates, the anchorage capability of a mechanical shell. It will reduce the support capacity of a split set to nearly nothing. And it will cause a partial or incomplete grouting around the resin bolt. Frequently, due to bit wear, holes are drilled undersized in diameter and may not be properly cleaned out. In this case, it will be difficult for the operator to push the mechanical shell into the hole, thereby causing him to drill another hole. In cases where the bolt is obviously not providing anchorage, operators will probably drill another hole and place another bolt. Rock Bolt Regulations It is the situations where a bolt is improperly installed in the hole, but gives the appearance of a good bolt, that are frightening. In fact, some safety officials and engineers believe that only 50% to 60% of installed bolts are working. These bolts cause irregular ground load transfers in other bolts and overload them. This causes hazardous situations and overstressing. It is these bolts that fail prematurely 200 to 255 mm (8 to 10 in.) behind the face and possibly contribute to the high accident rate. The government and several manufacturers recognized the need to check the integrity of rock bolts. These programs are in different stages today. Tight torque regulations have been established for mechanical

Jan 4, 1985

By K. Saikiran, A. R. Nalla

Longwall management, regular shield maintenance, and evaluation of ground control problems can be performed using real-time shield monitoring program. Based on real-time shield pressure data, evaluation of intensity and interval of periodic weighting, estimation of time-dependent pressure increase and the effects of geologic anomalies can be obtained. In this study, full-face shield pressure data of over 457 m (1,500 feet) of face advancement is analyzed to evaluate shield response in the presence of surface lineaments, floor undulations, and multiple main roofs. Shield pressure increase due to web cutting is also correlated with setting pressure during periodic weighting and normal time. In addition, time-dependent pressure increase rate on Sundays and holidays is also correlated with time average pressure and the location of previous periodic weighting.

Jan 1, 2000

By Hamed Khodadadi, Hamid Ghadiri

In this study, a fuzzy logic self-tuning PID controller based on an improved disturbance observer is designed for control of the ball mill grinding circuit. The ball mill grinding circuit has vast applications in the mining, metallurgy, chemistry, pharmacy, and research laboratories; however, this system has some challenges. The grinding circuit is a multivariable system in which the high interaction between loops, the variation of the system parameters with time, and time delay are some of the problems that pose a challenge. Since the controller parameters are determined offline in classic PID control, these gains are unchangeable and cannot overcome the mentioned challenges in this system. Hence, a fuzzy logic self-tuning PID controller, which is a combination of fuzzy logic and a conventional PID controller, is proposed to control the grinding system, especially in the presence of model mismatch and disturbances. In addition, in order to solve the system challenges, a multivariable control approach based on an improved disturbance observer is proposed to suppress the effects of the disturbances. The most important feature of the algorithm proposed in this paper as the combination of fuzzy logic self-tuning PID and improved disturbance observer is its ability to eliminate system interaction, attenuate internal and external disturbances, and compensate the effect of system uncertainty on the performance of the ball mill grinding circuit. Simulation results in the cases of the set-point change in particle size and circulating load in the presence of model mismatch and external disturbances confirmed the controller performance compared to other controllers.