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By R. A. D. Pattrick, D. A. Polya, D. J. Marsh, J. -J. Bao

"Abstract-The utility of high-density stream sediment and stream water sampling to the exploration for silver deposits was investigated by the study of the epithermal Ag-Au base-metal prospect at Lagalochan in western Scotland. The geology of Lagalochan is dominated by a calc-alkaline Caledonian intrusive complex emplaced into Dalradian Supergroup rocks (Harris et al., 1988a). The complex consists of subvolcanic porphyrytic rocks associated with intense hydrothermal alteration and brecciation. Early Cu-Ag-Mo-rich mineralization is found in the core of the complex with later Pb-Zn-Ag-Au-As-Sb-rich mineralization toward the margins (op. cit.).Stream sediment sample analysis spatially resolved the Cu-rich and Ag-rich mineralization. Ag and Cu anomalies relative to local background values were found in all size fractions analyzed (-125 µm, +125 µm, +180 µm, +250 µm) but the more pronounced anomalies were found in the -125 µm fraction. The coarser fractions generally revealed more erratic but longer dispersion trails. The separation of Cu-rich and Ag-rich mineralization is also apparent in the distribution of relatively high dissolved Cu and Ag in stream waters, particular when expressed relative to the solute load as Cu/TDS and Ag/TDS.The mineralization at Lagalochan is indicated by Ag, Cu and Pb stream sediment and water concentrations that are anomalous with respect to local backgrounds, but are difficult to distinguish from regional backgrounds. This emphasizes the further potential of high-density stream water sampling, in particular, as a viable geochemical exploration tool on a sub-regional scale for epithermal deposits in relatively unpolluted upland terranes."

Jan 1, 1995

By Robert B. Parsons

"During hard times, the focus on tax issues makes a slight change in direction. Mining companies contemplate the tax treatment of transactions and circumstances which are the product of a difficult financial environment. Some of these issues are discussed in this month's edition of Tax Notes.Every industrial sector in Canada is undergoing a major restructuring of some form, and the mining industry is not an exception. The longest recession since the Great Depression continues to affect the economy. Mining firms seek to bring their debt/equity ratios into line, and try to replenish depleted retained earnings by selling assets. This month, Tax Notes briefly examines some of the tax issues which are generally encountered during the course of such a restructuring process.Debt SettlementOne question which commonly arises during hard times concerns the tax treatment of a "" gain "" realized by a debtor on the settlement of a debt. Consider, for example, a simple situation where a creditor wants to protect itself from further losses, and makes a deal with the mining company to accept a cash payment of $8 million in full settlement of a $10 million loan. In financial terms, the debtor has made a $2 million gain on the settlement of the debt. What is the tax treatment of that gain?The Income Tax Act (the Act) contains provisions in section 80 of the Act and in section 5400 of the Income Tax Regulations which deal specifically with this question. First of all, it is noted that the $2 million gain is not brought directly into income for tax purposes. However, as indicated below, the gain could affect the debtor's income indirectly to the extent that certain of the debtor's tax pools must be reduced by the amount of the gain."

Jan 1, 1993

By Peter Babik

"Cable TV networks are extensively used throughout Canada for TV signal distribution. Mobile/portable radio communications are also used extensively throughout all sectors of industry. There are numerous manufacturer supplying these industries with a wide variety of equipment and accessories.IAL's underground radio communications system combines the techniques of cable TV and mobile radio to produce a flexible communications system with most of the advantages of both systems. Standard off-the-shelf mobile, portable, base-station and repeater equipment can be used. The equipment may need modification to be customized to particular end user requirements, but does not require a complete new unit redesign. Likewise, the cable TV distribution equipment is off the-shelf, with some items requiring modification for underground system application.Radio communications can be provided wherever the cable system is extended. Where traffic or type of activity warrants it, multiple radio channels can be provided on the same cable. Certain radio channels could also be used with data channels for control or supervision of remote equipment or environmental conditions. In addition, the same cable can be used to distribute or monitor signals from remote TV cameras in selected or dangerous areas. The system can be interfaced to a telephone system, if required, to provide extended communications to above-ground workshops, offices, medical stations or even hospitals and other emergency services.IntroductionReliable communications among personnel throughout an underground mine area have long been the dream and goal of various mine operations personnel. The system to be described was designed to meet this objective."

Jan 1, 1983

By X. F. Liu, O. Buzzi, Y. Sieffert

This study falls in the context of underground coal fires (UCF) where burning coal can elevate the temperature of a rock mass in excess of thousand degrees. The objective of the research was to experimentally investigate the change in mechanical behavior of a rock when subjected to temperatures up to 900 °C. Several blocks of an Australian mudstone were collected from a mining site in New South Wales, Australia. X-ray diffraction and thermal-gravimetric analysis were conducted on powdered rock in order to determine the critical temperatures at which the main mineralogical changes occur. Then, cylindrical specimens were prepared from intact rock blocks for unconfined compression tests. These rock specimens were then treated by heating in a temperature-controlled furnace at temperatures varying from 100 °C to 900 °C. The heating process consisted of two stages: raising temperature with very slow rate of 1 °C per hour followed by a holding period of 24 hours and then a slow cooling process to room temperature. The compression tests were carried out on treated rock specimens to characterize the change in compressive strength. The macroscopical study was complemented by microstructural investigations via optical microscope, scanning electron microscope (SEM) and mercury intrusion porosimetry (MIP). Results show that the unconfined compressive strength of mudstone decreases with increasing heating temperature up to 450 °C, beyond which it increases. This can be explained by the combined effects of micro cracks and mineral thermal reactions caused by heating process.

Jan 1, 2015

By S. Shairp

Copper is an impurity as well as a necessary reagent in the processing of zinc sulfide concentrate at Hudson Bay Mining & Smelting Co., Limited's (HBMS) zinc pressure leach plant. Copper is present in the zinc concentrate as chalcopyrite, which consumes reagents necessary for zinc leaching. A small percentage of copper precipitates in the autoclaves, discharge lines, and flash tanks, requiring maintenance of the equipment and disposal of the solids. Copper also precipitates in the neutralization stages and is removed to low levels in a specific copper removal stage of purification. Yet some copper, as copper sulfate, is required, along with potassium antimony tartrate, in the final purification stage to improve cobalt removal from the zinc sulfate solution prior to electrowinning. The behaviour of copper experienced at HBMS's zinc pressure leach plant is discussed.

Jan 1, 2008

By Roger M. Nendick

"IntroductionThe stages of development for bringing a mill into production demand that a flowsheet for the process be developed at an early stage. Detailed engineering of the mill may then proceed without duplication of engineering effort on alternative processes. In the case of gold and silver mills, several process alternatives exist which must be evaluated before the flowsheet is finally fixed. The recently developed Carbon-in-Pulp process has added to this choice.Clearly, the major factor in determining the most suitable process is the amenability of the particular ore to a given treatment. Other factors that will also influence the choice are location, climate, power and water supplies, and available capital.Gold and silver milling processes can be divided into three main types:Gravity Concentration;Flotation;Cyanidation.Combinations of the three are frequently used; i.e. flotation followed by cyanidation of the concentrate, or gravity concentration in the grinding circuit with cyanidation of the classifier overflow. The following are the salient advantages and disadvantages of the three main alternatives.Gravity ConcentrationGravity concentration is suitable for free-milling gold ores, i.e. ores in which the gold is relatively coarse and free from sulphides. It should be noted that just because an ore is high grade, it is not necessarily free milling.Gravity concentration methods include jigs, shaking tables, spirals and more recently Reichert cone concentrators. All methods exploit the density difference between gold, which has a specific gravity greater than 15, depending on how it is alloyed, and the gangue, which usually has a specific gravity range of 2.7 to 3.5.A concentrate grade of several hundred ounces per ton might be produced, but recoveries by gravity alone are generally low in comparison to other methods. For this reason, gravity circuits are usually used in combination with flotation or cyanidation circuits."

Jan 1, 1983

By Alan R. Holt

"This paper provides an overview of the use of uranium and coal in Ontario Hydro's generation program. The dynamics of available supply sources including mining and transportation infrastructures and regional considerations are described. Included is a discussion of needed procurement strategies, both in place and planned, to meet fluctuating fuel requirements while ensuring adequate supply security and cost effectiveness. IntroductionDuring the first half of this century, Ontario Hydro or the Hydro Electric Power Commission of Ontario, as it was then known substantially supplied all of the province's electricity needs from a large number of hydraulic generating stations. Although hydraulic power still provides a very significant part of Ontario energy requirements, this paper will concentrate on the role of uranium and coal in their generation program. To provide a perspective on the importance of these two fuels, Figure I shows the approximate value of each for the past few years in relation to Hydro's total operating costs. The trend toward increasing nuclear output and a corresponding decline in coal use is also clearly illustrated.Figure 2 shows the currently installed capacity of their three main energy sources, hydraulic, nuclear and coal and the 1986 production totals for each, followed by Table I which compares the average operating or running cost on the basis of dollars per megawatt hour for each type of plant. It demonstrates dramatically why Ontario Hydro base load s its hydraulic and nuclear plants, and why coal has become the swing fuel on the system. Although they have a 1200 megawatt plant in Toronto with natural gas-burning capability, and a 2000 megawatt oil-fired station near Kingston, both are presently mothballed and have not been considered in this paper.This paper starts with a user's perspective of the nuclear fuel supply situation which will be discussed in relation to the usual considerations of security, flexibility and cost."

Jan 1, 1988

By Charle Lawrence, Murray E. Blanchard

"A significant addition to Canada's commodity export transportation capabilities is being built by Ridley Terminals Inc. on Ridley Island in the Port of Prince Rupert on British Columbia's north coast.Site preparation began in early 1982. By the end of 1983 the terminal will be receiving coal from two major new mines being developed in B. C.'s massive $2.5 billion northeast coal development.The RTI terminal will have initial capacity to transfer 12 million tonnes of coal a year from railcars to storage and to ships. Capacity will be doubled to 24 million tonnes as market opportunities are developed.The challenge of building this $220-million facility in less than 24 months, the benefits Canada has received from the work the project is generating, and the long-term faith in Canada that this project represents, are all part of the excitement which surrounds the Ridley Terminal and northeast coal developments.RIDLEY TERMINALS INC. (RTI) is building a very significant addition to Canada's commodity export transportation capabilities. The facility, on Ridley Island at Prince Rupert, on the north coast of British Columbia, is a key link in British Columbia's northeast coal development which in itself is a massive undertaking involving investment of some $2.5 billion. The entire project is making a substantial contribution to Canada's economy at a time when such contributions are sorely needed.The development is creating employment, not only in British Columbia where its various parts are being created by mining companies, railways and others, but also across the country where suppliers are manufacturing a wide variety of good s and equipment for the development's participants.The RTI terminal is no exception. It is a critical cog in this mega project's large transportation system and its construction is contributing substantially to job creation and to other economic activity, in the Prince Rupert area and in many other parts of British Columbia and the rest of Canada."

Jan 1, 1983

By G. Lafont

Aug 1, 2013

By J. Reinhardt, R. Uken, S. S. Chinnasamy

Au mineralization in the Kilpwal Gold Mine is confined to laminated quartz-carbonate lodes and associated alteration along the Klipwal Shear Zone (KSZ) in the upper Mozaan Group of the Mesoarchaean Pongola Supergroup. The brittle-ductile shear zone is characterized by inner and proximal hydrothermal alteration domains that are comprised of chlorite, epidote, sericite, pyrite, arsenopyrite and gold. Possible sources of gold are: (i) paleo-placer U-Au rich conglomerates from the lower Mozaan Group; (ii) the underlying mafic volcanics of the Nsuze Group; (iii) greenstone belts in the basement to the Pongola basin. Post-Pongola granites probably provided the heat to mobilize auriferous fluids into the KSZ.

Jan 1, 2011

By R. Bridge

Mining companies are progressively finding themselves having to develop operations for more complex, deeper ore bodies, which require the use of more complicated mining and mineral processing methods. This coupled with the generally increasing trend of higher capital and operational costs have led to a need in the industry for improving ore body knowledge, mining and mineral processing. Geometallurgy is a relatively new concept that can link the three aspects, and when used effectively it is a method that can produce the necessary information for designing and building operations for reliable and optimum performance. Geometallurgy not only involves the integration of geological, mining, and metallurgical fields, but it can also be expanded to include environmental and economic information to produce a block model that can be used to obtain the best outcome in terms of plant response and plant sustainability. The geometallurgical program should not end once the block model has been populated. A detailed geometallurgical approach should be applied to all stages of the operation encompassing sample selection, through to equipment sizing and production forecasting. It can also become a useful optimisation tool thereby allowing the operation to be proactive rather than reactive against changes in the ore characteristics. With the development of metallurgical performance predictors it is possible to quantify how the ore will behave in the process plant in terms of throughput, recoveries, reagent consumption, etc. Therefore, in terms of responsible mining and sustainable resource development, a geometallurgical approach to operations is the logical step for plant development. In this paper we describe the state of the technology with respect to the application of geometallurgical modeling and its utilisation in the fields of design, forecasting and optimisation of mining operations.

Aug 1, 2013

By O. Guyot, A. Broussaud, M. Revalor, G. Legrand, D. Kok, E. Roux

"The paper describes the advanced grinding control system implemented at Newmont Ahafo gold mine, Ghana in 2009 and 2010. It shows how the different components of the Advanced Process Control (APC) system cooperate for increasing plant performance.The SABC circuit processes hard rock from different pits mixed with a variable proportion of oxides. The control strategy is designed to address specific disturbances, including start/stops of pebble crushers, unavailability of oxides, changes in rock size distribution resulting from segregation in the stockpile, and changes in ore type and hardness.The system consists of an expert system per se with extensive use of fuzzy logic, supplemented by an online dynamic model of the process used as a soft sensor, a VisioRock™ rock size measurement system over SAG mill feed before addition of recycled pebbles, and an AudioMill™ system to analyze the SAG mill sound and detect impacts on liners. All these components are embedded in the same OCS© software platform, which, among other benefits, makes it easy to support the entire system remotely. The paper details the physical constraints and the variables that are manipulated. It describes the control strategy and the contribution of each component of the system. It also describes the project implementation and the performance of the system. In addition to a strong involvement and support of management, the very good acceptance of the operators has been facilitated by the remote access system that made it possible to immediately modify the system each time it was needed during the baby sitting phase.The system made it possible to increase gold production significantly through increases in tonnage and recovery thanks to a better control of the grind size through a stabilization of the secondary ball milling circuit and an improvement of the operating conditions of the classifying cyclones."

Jan 1, 2012

By Vic Casaletto

"IntroductionThe Canadian mining industry is under immense pressure to compete with foreign mine operations. The very survival of the Canadian mining industry is threatened by lower ore grades, environmental pressures, high cost of labour, unfriendly tax laws toward exploration and the increasing cost of new technology. In order to compete in the world market, Canadian producers and their suppliers are rethinking age old customer-supplier relationships in favour of preferred supplier relationships which can improve the profitability and enhance the competitive position of both partners.This paper attempts to redefine partnerships with suppliers in the context of a ""win-win"" objective. It will outline the measurable benefits to both partners through a representative product which highlights the keynote structure of any successful supplier partnership The Status Quo...Mines all over North America are plagued with the same recurring questions, ""Who has the best product for my operation at the lowest price... How do we know a product will perform to a supplier's projections after the sale...What do we do if the product fails to perform as expected?"" These questions have been asked by underground mining operators for decades but rarely have long-term solutions with measurable results been achieved.The LHD industry is one example of the status quo where partnerships will provide large gains toward technological advancement, reducing mobile equipment costs. The underground mining industry is out of sync with their surface counterparts in the open pit business.Partnerships with suppliers in the open pit world are not only a standard practice but a culture which has existed for decades. Open pit operators enjoy concepts which fix their mobile equipment costs for the life of the mine and hold the equipment supplier accountable for performance and fleet economics for 60 000 service hours and longer.Manufacturers are attempting to transfer this culture into the underground mining industry. Figure I illustrates the significance of a capital driven decision."

Jan 1, 1994

By E. Ghali, A. D. Bas

"Treatment of oxide, e.g. roasted gold ores has received relatively less attention than sulphidic ones and recently, handling of oxide gold ores is becoming essential. In this study, the influence of roasted gold ore (RGO) slurry (at 35% solid ratio) on the electrochemical dissolution of gold has been examined using pure gold and iron oxide minerals (hematite, maghemite, and magnetite) as disc electrodes by zeroresistance ammeter mode either in one or two separate containers. The presence of slurry decreased galvanic currents, i.e. corrosion rates due to the release and increase in the amount of soluble and/or insoluble species that could retard further the anodic behaviour of gold. Higher galvanic currents were observed in two separate containers than that in one container indicating the primary importance of galvanic interactions. SEM-EDS results observed iron hydro/oxide coatings on gold surface in case of magnetite test. However, in case of RGO electrode it is not a perfect passivation, although somewhat decreasing trend was observed on gold dissolution. These findings have revealed that passivation is not only a laboratory phenomenon, but also it could be responsible for the slowdown of gold dissolution in industrial practice.INTRODUCTIONThe cyanidation of gold is an electrochemical corrosion process thus; the dissolution of gold can readily be studied by electrochemical techniques. The outcome/summary of previous electrochemical studies of gold leaching can partially be summarized as follows: Filmer (1982) and Lorenzen and van Deventer (1992) reported the negative effect of pyrite and pyrrhotite on gold leaching due to the galvanic interactions; Aghamirian and Yen (2005) studied gold galvanic corrosion in presence of sulphide mineral electrodes only in one cell using zero-resistance ammeter (ZRA) mode; Dai and Jeffrey (2006) discussed, individually, the anodic and cathodic behaviours between gold and sulphide minerals, and Azizi et al. (2010, 2011) used a bed reactor to examine the influence of sulphide minerals on gold dissolution in one and two separate cells. Accordingly, a slowdown in gold leaching has generally been attributed to the passivation phenomenon, although the indication of this phenomenon is still an undergoing debate. For instance, Mrkusic and Paynter (1970) identified the passivation as the film formation of dissolved species from calcine, Crundwell (2014) explained passivation, in the case of corrosion of metals, as the formation of a layer which is composed of a new chemical species on the mineral surface and this layer inhibits or blocks further reactions. He suggested that passivation is related to the oxidation of the metal, and the formation of a passive layer that retards the rate of dissolution by several orders of magnitude. Consequently, galvanic interactions, passivation phenomena, or combinations of them are considered significant electrochemical factors affecting gold dissolution (van Deventer, Reuter, Lorenzen, & Hoff, 1990; Azizi, Petre, & Larachi, 2012). It is important to note that generalizing the influence of a mineral/metal on gold dissolution may not be correct in all cases, since contrary behaviours/results (for pyrite) have been observed (Aghamirian & Yen, 2005). Therefore, electrochemical study of gold is still a subject of research and need to be examined further in detail."

Jan 1, 2016

By T. Rahimzadeh, C. W. Trueman, S. Farzaneh, S. V. Hoa, I. Abdalla

This paper presents the shielding effectiveness (SE) of woven continuous carbon/epoxy composite materials. The theoretical and physical concepts behind the experimental results are demonstrated in details. The influence of frequency, the overlapping angle between overlapped layers and the number of overlapped layers upon the EMI shielding of composite sheets are discussed. In this work, in particular, the epoxy layers are considered as dielectric apertures of the conducting carbon fiber slab for the interpretation of the experimental results. The experimental results, using ASTM standard D4935-89, indicate that the SE can reach values greater than 90 dB above 500 MHz.

Jan 1, 2006

By John C. Loretto

"Answers to some of the problems ofRecovery and Metallurgical AccountingIn Gold and Silver Hydrometallurgical PlantsThe start-up over the last few years of new hydrometallurgical plants for the recovery of gold and silver has brought to the surface again a number of problems. Most of the problems have existed for some time and they manifest themselves mainly in two ways. Firstly, the plant results do not agree with the Metallurgical Test work figures and secondly, the Metallurgical Accounting figures do not balance.The plant results not agreeing with testwork figures are mainly due to:a) The testwork samples were not representative of the eventual plantfeed;b) Misinterpretation or misunderstanding of testwork;c) Plant losses;d) Plant design not allowing testwork results to be achieved;e) Operating deficiencies.a} The testwork samples being dissimilar to the plant feed occurs on a very high proportion of projects. The effects of this can beccr.ie exaggerated because the upper levels of the mining company often regard the original testwork figures as sacred and therefore base their judgement of current plant performance on these figures.Frequently the test work samples represent only a minor part of the orebody or alternatively a single composite of the whole ore body is used for the testwork long before it has been determined that all of the potentially different ore zones behave in the same manner. These errors can be compensated for by repeating the ""testwork tests 11 on current plant feed on a routine basis and using these tests to determine whether or not the plant is operating satisfactorily."

Jan 1, 1982

By K. T. Aye

An investigation into the leaching of chalcocite and covellite in cyanide solutions at concentrations typically encountered daring gold cyanidation has been conducted. The results indicate that, for both minerals, the extent of leaching is greater under anoxic conditions, but is still incomplete even in the presence of free cyanide ions, with undissolved copper solids remaining in equilibrium with solution species. The speciation of the sulfur and cyanide reaction products in solution are interpreted in terms of the fast formation of a copper(I)- cyanide complexes in solution and a sulfur-rich copper(I) polysulfide solid phase, which then reacts more slowly to produce thiocyanate ions.

Jan 1, 2011

By K. Sinding, R. Poulin

"Recent land-use decisions in British Colwnbia, and the publication of a report on compensation for expropriations of resource interests, have highlighted the nature of land use policies. Landuse decisions, such as the creation of large new parks, raise three principal issues which have implications for how land-use policy is conducted and how it impacts on the mining industry. The first is the identity of the parties advocating different land-use policies and their motives for doing so, the second is the changing nature of benefits derived from land, and the third is the change of property-rights regime which is devised to accommodate the (changing) benefits from using land and natural resources, as well as the interests of the different parties involved.Involved Parties and BenefitsThe process of establishing or modifying property rights depends on the interest groups involved. Three distinct categories, each with distinct incentives which can influence the process, must be distinguished: private claimants, politicians and bureaucrats (Libecap, 1989).The first groups claim rents and management powers through asset ownership. They may be incumbent owners seeking enforcement of the status quo, new claimants seeking redistribution of assets, or third parties who depend on the distribution of assets (e.g. lenders, labour suppliers and contractors). Some infonnal property arrangements can be negotiated within the group whereas others requires action in the political arena through lobbying politicians for (re)allocation of property rights and influencing bureaucrats for favourable administrative decisions. The second category is politicians, who direct the powers of the state to change or enforce property rights. Both incwnbents and office-seekers fall in this category and their actions and opinions are shaped by their constituencies and financial backers. However, not all causes can be championed and trade-offs have to be made, resulting in decisions that maximize political benefits. The third category of parties in the process is the bureaucrats. The power to manage has been delegated by politicians but bureaucrats also have opportunities and incentives to further their own interests. These can include maintaining or expanding jurisdictional turf or increasing operating budgets (Libecap, 1989)"

Jan 1, 1994

By W. R. Bacon

"MAGNETITE HAS BEEN found in many .parts of the coastal area of British Columbia, but the more important deposits are on Vancouver Island and Texada Island. The locations of these deposits are shown on Figure 1.Interest in the magnetite deposits dates back to the 1870s, when land was acquired on the southwest coast of Texada Island by the Puget Sound Iron Company. This ground included the Prescott, Paxton, and Lake deposits. During the years 1885 to 1903, and 1908, 28,898 tons of magnetite ore was shipped to the company's blast-furnace plant at Irondale, Washington, U.S.A. This production was almost entirely from the Prescott open-pits.In the years following the Texada Island discoveries, other magnetite deposits were found in the coastal area, and various plans were proposed to utilize the local ores in the establishment of a steel industry in the Pacific Northwest. None was carried to fruition but, in 1951, open-pit mining was begun at Iron Hill, Vancouver Island, to furnish iron concentrates for steel mills in Japan. In 1952 mining of the Texada deposits was resumed to supply the same market. Production figures for these recent operations are as follows:"

Jan 1, 1949

By R. M. T. Raja Ismail

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.

Aug 1, 2013