“…These control methods involve decentralized PID control and model predictive control (MPC) (Pomerleau, Hodouin, Desbiens, & Gagnon, 2000;Ramasamy, Narayanan, & Rao, 2005), multivariable control (Duarte et al, 1999), robust control (Galan, Barton, & Romagndi, 2002), supervisory control (Radhakrishnan, 1999) and neurocontrol (Conradle & Aldrich, 2001). Although numerous advanced control strategies have been reported in control literatures, both at simulation, as well as experimental levels, very few of these currently operate in industry due to the complex process dynamics and severe disturbances in grinding circuits.…”