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By Figueroa L. Aquiles

El presente trabajo plantea el uso de la pre-concentración en la etapa de chancado de las plantas metalúrgicas polimetálicas, como método de limpieza que busca eliminar el material estéril (ganga) antes de alimentar a los molinos y así reducir los altos costos de la molienda, flotación, secado y otros. Asímismo, los procesos de concentración van desde el pallaqueo hasta procesos sofisticados como la pre-concentración por análisis de dispersión de radiación gama y aquellos de separación por medios densos.

Nov 8, 1984

By Peter Knoch

"El presente trabajo describe los distintos procesos metalúrgicos en el tratamiento de concentrados de plomo y obtención de plomo metálico, considerando las condiciones particulares del Perú. En este sentido, son tres los grupos que tienen reacciones básicas: precipitación, tostación/reducción, tostación/ reacción. En el primer grupo, están los procesos basados en la diferencia de afinidades por el azufre entre ciertos elementos y el plomo. El segundo grupo, es el proceso clásico donde se produce una dilución de la carga en una máquina Dwight-Lloyd, y la reducción posterior del aglomerado resultante con coque metalúrgico en hornos de manga. Fiinalmente, en el tercer grupo, se encuentran aquellos que no usan coque metalúrgico y donde algunos requieren de inversiones bajas en el tratamiento de concentrados de leyes altas. "

Nov 20, 1967

By G. H. Hope, D. Green

"Recent process advances at Lac Minerals Est Malartic Division are discussed. The Est Malartic mill treats massive sulphide, copper/gold ore from the Bousquet 2 mine, to produce a gravity gold product, a copper flotation concentrate and a gold precipitate. The mill operation has been improved by the application of Knelson concentrators to replace jigs, the application of Outukumpu high grade tank cells and optimizing the cyanide leach to minimize cyanide consumption.IntroductionThe Est Malartic mill is located near the town of Malartic in the Abitibi Region of north western Quebec. The mill has been in production since the mid- J 930's processing mainly clean, free milling gold ore. Active mining from the Est Malartic mine ceased in 1980 and the mill was switched to custom processing of ore from La Mine Doyon located some 45 km to the west. This custom processing arrangement continued until 1987 when the expanded mill at Doyon became available to process all of the Doyon production. In 1987, Lac Minerals commenced development of a second mine at the Bousquet site located 40 km west of Malartic. This mine, Bousquet 2, is the down dip extension of the La Ronde mine developed by Agnico Eagle. During pre-feasibility evaluations, it was determined that modification of the Est Malartic mill to handle this new ore source was economically more attractive than building a new facility on site. Modifications to the mill to process the high copper/gold ore from the Bousquet 2 mine began in late 1989 and the new circuits were commissioned in mid-1990. Modifications included the addition of both gravity and flotation concentration circuits to recover coarse, free gold and the copper. The existing leach circuit continued operating on the copper flotation tailings with some minor modifications to the solution handling systems. An SO,/air cyanide destruction circuit was also added at this time."

Jan 1, 1993

By George Hope, Jacques McMullen

Recent process advances at Lac Minerals Est Malartic Division are discussed. The Est Malartic mill treats massive sulphide, copper/gold ore from the Bousquet 2 mine, to produce a gravity gold product, a copper flotation concentrate and a gold precipitate. The mill operation has been improved by the application ofKnelson concentrators to replace jigs, the application of Outukumpu high grade tank cells and optimizing the cyanide leach to minimize cyanide consumption.

Jan 1, 1993

By Marc Tardif

"The way alarm information is provided to an operator can make a huge difference in the minutes following an upset. Process alarms are often looked at as a way to help avoid catastrophic failure and serious accidents. But knowing that mineral processing is so energy consuming and that raw material is not consistent, all small upsets should also be seen as a catastrophe because they can have significant impact on product cost and quality.This paper will demonstrate how it is possible to use data from process alarms to provide operators with real time, value added information that will help them take the right decision at the right time and in turn, reduce unplanned downtime by 20 to 80% and incidents by up to 50% (number and cost),and optimize energy and capacity usage.In the era of Big Data, living in a world where we are submerged with information, one of the biggest challenges is to find the right information at the right time.Alarm rationalization projects will often focus on alarm quantity, but alarm quality is also very important. It is possible, by following a simple 6-step process to turn “alarms” into truly valuable information for operators. Based on known standards (ANSI/ISA 18.2 and EEMUA 191), this process will capture the knowledge of the best and most experienced operators and process engineers, and make it readily available to everyone, right on time, when it matters the most.INTRODUCTIONWhen spending some time in a modern control room, it is easy to notice the huge quantity of information that is available to the operator. Modern operation stations feature multiple screens with HD capability. These screens display information like process display, history trends, alarms and events list, maps with geo-located information, images from live cameras, etc. However, it is harder to assess whether all this information is really helping operators: Is all the information relevant? Are process screens overcrowded? Is the information easy to understand? Does the operator know what to do with all the information? Are there too many alarms?"

Jan 1, 2016

By M. B. Mooiman

Cyanidation of gold and silver ores by conventional mining and milling techniques has been practiced for over a century. During the past decade, heap leaching has emerged as a viable process for treating certain gold and silver ores. (1) The rapid development of heap leaching for gold and silver ores is largely a result of lower capital and operating costs and faster start-up time than that offered by conventional mining and milling. In general, these features make heap leaching an ideal approach for exploiting either small or large low-grade disseminated deposits of gold and silver considered to be uneconomic by conventional methods. The development of heap leaching technology has evolved from the operations initiated in the western United States. The basic components of a typical heap leaching operation are depicted in Figure 1. Run-of-mine or crushed ore (usually 1 to 5 ppm gold) is delivered to specifically prepared impervious pads. Alkaline cyanide solution is applied to the surface of the heap and allowed to percolate through the heap (typically 10-30 ft high). Pregnant leach solution which drains from the heap is collected and stored in tanks of sufficient size or in collection reservoirs. Gold and silver are recovered from the pregnant solution and the barren solution is recirculated back to the heaps after reagent make-up.

Jan 1, 1983

By C. J. Ferron

Gold occurrence in operating plant tailings ranges from gold in solution, fine free gold, gold associated with sulphides/arsenides/tellurides and gold occluded within iron oxides or arsenates and silica gangue. This paper briefly presents various alternatives to reprocess gold tailings, with examples. These include the use of centrifugal gravity separators, CIL, magnetic separation, flotation and pressure oxidation.

Jan 1, 1993

Kumba Iron OreÆs Sishen Mine is one of the worldÆs largest iron ore mining operations situated in the Northern Cape, South Africa. It produces 29 million tonnes of iron ore products per annum using a dense medium separation (DMS) beneficiation process. Kumba is currently commissioning the Sishen Expansion Project (SEP) which will produce a further 13 Mtpa product through a jigging beneficiation process. The products from the Sishen Mine are highly sought after and consumed by domestic and various European and Asian customers. During beneficiation iron ore slimes are generated and discarded as waste material to the slimes dams. A study was initiated in 2005 to investigate processes to beneficiate these slimes to saleable products û prompted by the current high demand for iron ore products and the high grade in the Sishen slimes thickener underflow of approximately 54 per cent Fe. Initial laboratory scale test work indicated that a 66.5 per cent Fe iron ore concentrate could be produced from the Sishen slimes thickener underflow through a process of classification, two stage wet high intensity magnetic separation (WHIMS) and five stage flotation. This process, however, did not produce the desired results during pilot plant testing and numerous alternative process routes were investigated. The process that did achieve the desired product grade of 66.5 per cent Fe at economically feasible product yields consisted of two stage WHIMS using SLON magnetic separators. Results achieved indicate that the thickener underflow slimes can be upgraded from 54 per cent Fe to 66.5 per cent Fe at a product yield of ca. 40 per cent. Product yield could be increased through the further beneficiation of the SLON tails. The Sishen slimes thickener underflow production rate is ca. 3 Mtpa û resulting in a potential concentrate production of ca. 1.2 Mtpa. The slimes concentrate will be fed to a pelletising plant that will produce 66 per cent Fe pellets destined for domestic and or export markets.

Jan 1, 2008

By N. V. Ramana Murthy

Utilisation of Low-Grade Iron Ore Fines after concentration not only helps in conservation of the mineral wealth, but also substantialsly improves the economics of iron ore mining. There has been need to develop suitable beneficiation process for upgradation of low-grade iron ores towards their rational utilisation. Presently the circuit adopted for processing iron ores has limitations in reduction of alumina. The depletion of high-grade reserves, utilisation of low-grade reserves coupled with in-creasing market pressure for improved product quality necessitates re-examination of the process flow sheets and evaluate alternative or supplemental processing routes. The main objective of the Process amenability studies for utilisation of Low-Grade Iron Ore Fines (-10mm) is to get Pellet grade concentrate with +65% Fe (min), SiO2 1.8% (max), Al2O3 1.8% (max) and other proportionate constituents by adopting suitable beneficiation techniques and to collect the relevant data (Quality and Quantity of the Products) for the process development. In an effort to formulate a conceptual process flow sheet, the Process amenability studies for utilisation of Low-Grade Iron Ore Fines (-10mm), which is lying at a mine site in India, samples were collected and taken up for the study. The efforts of R & D of NMDC are discussed in this paper. Low-Grade Iron Ore Fines (-10mm) sample assayed 60.10% Fe with 3.48% SiO2 Aland 4.48% 2O3from 40 microns to 300 microns. The sample consists of hematite as the chief ore mineral followed by minor amounts of maghemite. The gangue minerals include quartz and ferruginous clay in which quartz occurs as medium grained where as ferruginous clay occurs as fine to sub microscopic size mineral. The economical processing route evolved out of the studies finally could yield a final concentrate constituting 58.63% by weight along with Iron unit?s recovery of 63.51% assaying 65.10% Fe with 1.48% SiO2 and 1.85% Al2O3route that adopted comprises the following operations. Making slurry in a sump pump followed by grinding in close circuit with 48mesh size Screen. The -48 mesh size product was subjected o the Cycloning to remove slimes. The Cyclone Underflow product was subjected to Floatex Density Separation (FDS) to separate fine heavy minerals from the gangue minerals. The FDS Underflow was collected as concentrate. The FDS Overflow product was further subjected with Wet High Intensity Magnetic Separation (WHIMS) to recover more Iron units as magnetics. A conceptual process flow sheet was evolved, which may become the prelude to the subsequent finalisation of the process flow sheet for commercialisation.

Jan 1, 2014

By G. Venkateswara Rao

The multi-gravity separator (MGS) is a novel piece of equipment for the separation of fine and ultra-fine minerals. However, the published literature does not demonstrate its use in the separation of Iron ore fines. Therefore, an attempt was made to study the effects of different process variables on the performance of an MGS for the beneficiation of Iron ore fines. The results obtained from this study revealed that among the parameters studied, drum rotation, amount of wash water and angle of inclination play dominating roles in controlling the yield and grade of the Iron ore. The majority of the newly developed Multi gravity concentrators have tremendous potentials for various applications. Therefore, the performance evaluation of these concentrators treating various minerals, coals, heavy metal recovery from tailing dams, etc., have become an active research topic. Several attempts have also been made to develop appropriate mathematical models of individual concentrators. Despite all these efforts, these concentrators have yet to find the widespread applications they deserve. The ?as received? sample assayed 40.80% Fe, 40.90% SiO2,0.24% Al2O3and 0.20 % LOI and all other trace elements within the specified range. The current paper deals with the Mineralogical studies, characterization and process amenability studies of Sub grade Iron ore from Deposit No. 5, Bacheli complex of Bailadila using Multi Gravity Separator (MGS).

Sep 1, 2012

By T Raynlyn, S Hapugoda, V Nunna

The predominant phase in most Marra Mamba, channel iron deposits and detrital iron ore deposits is goethite. Goethite abundant iron ore fines tend to have complex mineralogical associations and fine dissemination of gangue material. These ores are typically challenging to process using conventional beneficiation methods. With declining ore grades, there is a need to develop new processing routes for low-grade goethitic ores/fines.Comparative process amenability studies were carried out using two different processing options to recover iron with low alumina and silica content from a low-grade goethite-abundant iron ore fines (-2 mm) sample from the Pilbara region of Western Australia. The first option involved dehydroxylation at 350°C and 400°C, followed by grinding dehydroxylated samples to 100 per cent passing 106 µm and magnetic separation. The second option was processing raw sample by gravity separation using a Floatex density separator. The performances of the two processes are discussed in terms of the iron grade-recovery responses, and an optimal processing route is proposed based on the findings from these tests.CITATION:Nunna, V, Hapugoda, S and Raynlyn, T, 2015. Process amenability studies on goethite-abundant iron ore fines, in Proceedings Iron Ore 2015, pp 165–174 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 13, 2015

By J. C. Agarwal

Slags produced by modern smelting furnaces contain copper values which are unacceptably high for discard. The electric arc furnace is employed commercially to clean copper from flash furnace slags but the addition of highly oxidized converter slags to an electric furnace has created operational problems. Highly oxidized Noranda Reactor slags have not been processed successfully in a pyrometallurgical process. These slags, which contain large concentrations of copper (5 to 10 per cent), are treated in slag concentrators (controlled cooling, crushing and milling, and flotation) which produce a copper concentrate that must be resmelted. Though commercially operable, it will be shown that the slag concentrator has important process and cost disadvantages as compared to a pyrometallurgical process. In this paper an economic comparison is made between a pyrometallurgical process and the slag concentrator. For the analysis, five hypothetical smelting plants are considered. Each plant treats 1200 tons of copper concentrate per day and produces 109,000 tons of copper annually. The plant configurations used in this study are:

Jan 1, 1976

By J. C. Agarwal

A significant portion of the, coal mined by U. S. Steel is beneficiated to upgrade the quality of the resultant coke to meet blast-furnace requirements. Primarily because of degradation from modern mechanized mining methods, a considerable quantity of the coal to be beneficiated is in the 1/4-inch by 100-mesh size range. In the cleaning plants, this coal is usually cleaned on concentrating tables and then mechanically dewatered in solid-bowl centrifuges to 9 to 14 percent water. At some plants, to further decrease the amount of water shipped with coal, and to improve the coking characteristics of the coal at its destination, mechanical dewatering is followed by thermal drying. At U. S. Steel's-Alpheus preparation plant at Gary, West Virginia, approximately 50 percent of the total coal produced is in this fine size range, and two fluidized-bed dryers are used for the thermal drying step. The two fluidized-bed dryers are 14 feet in diameter and were designed by the Dorr-Oliver Company. Although the original design called for a rate of drying equivalent to 37 tons, of moisture per hour, presently they are removing twice that amount. This paper describes, the major problems encountered' in operating these dryers at the present, high capacities and how they were overcome.

Jan 1, 1963

By B. Gorain, O. A. Bascur

"The advent of digital revolution has now enabled us with numerous tools that could be leveraged to transform our operational data into actionable insights. Key opportunities with digitization include better visualization, transparency, integrated planning and execution for value-chain optimization, that results in smarter production, intelligent response to changes in ore, process and equipment conditions, reduce energy and waste along with prevention of asset breakdown, safety and environmental issues. It is important to realize that these digital tools have limited value, from a metallurgical operational context, if we cannot bring-in the appropriate domain expertise along with getting the basics right. The focus within Barrick is to ensure that there is adequate depth of different disciplines built into our platforms along with breadth to integrate other disciplines such as geology and mining for an effective Mine-to-Mill integration. A gold recovery improvement strategy based on optimal Gaudin size distribution, leaching performance monitoring and guidance via feed grade maps is discussed. Simultaneous identification of process and equipment constraints enable finding the best overall conditions for Gold recovery. This paper discusses the methodology, findings, and challenges in the ongoing journey of implementing a Metallurgy Analytics platform that evolves from being retrospectively descriptive to anticipatively prescriptive.INTRODUCTION The last few decades have seen some remarkable advancement in information technology, but recently various digital technologies have resulted in several synergies to deliver innovation in diverse applications. The mining industry has been relatively slow in adopting these technologies compared to the other industries, but this scenario is changing fast. Mining companies globally are going through a series of challenges such as declining ore grades with complex metallurgy, increasing depth of ore bodies, high capital and operating costs, lower productivity, shortage of technical resources, significant pressure from stakeholders to deliver, along with growing environmental and corporate social responsibility issues. Improvement in profitability would need significant improvements in operational performance."

Jan 1, 2018

Advanced process and equipment analytics have been around for a while. However, with accessible IT infrastructure and site maturity, it is possible to analyse, monitor, and control processing plants and equipment easily. These various disparate systems provide different reports requiring the involvement of various personnel and attention to different reporting platforms. For efficient harnessing of the systems? capabilities, as well as effective improvement and monitoring of process and equipment, a single point of entry is required. A process and equipment optimization solution was required at a concentrator in South Africa, focussing on the product stream of platinum group metal (PGM) concentrate from the UG2 Reef. The investigation of data to identify strategies for optimization was required to allow visibility into plant operations to guide operators, an easier method to identify process loop problems, identification of imminent equipment failures, and advanced process control to optimize throughput and stability. A collaborative effort between the client and General Electric Intelligent Platforms (GEIP) investigated data-driven solutions to each of the problems. With the focus on process optimization and asset monitoring, as well as equipment monitoring, a combination of approaches was utilized to address the various problem areas that were identified. Each was implemented separately in the control layer of the plant IT infrastructure. The integration was done in a centralized web-based reporting tool that integrated the detailed results from the various solutions. On the process control side, monitoring of control loops was included by calculating performance statistics that were reported daily to identify sub-optimally performing control loops and indicating potential problems. The advanced process control solution for this site includes a surge tank controller, stabilizing flow through the flotation banks, and preventing the surge tank from overflowing or running empty. Equipment monitoring was investigated, for preventative maintenance, by making use of statistical data models to indicate imminent equipment failure. These predicted alarm events included the cause for failure, drilling down, and allowing focus on a specific variable for preventative action. The results included a more stable flow through the mill, with fewer stoppages due to surge tank overflows or running empty. The causes for process drift could be identified and operators could react early. Alarms warning of equipment failure 2½ and 4 months in advance were identified in an offline analysis.

Jan 1, 2012

By Vas Choudhry, Randhir Sehgal

Conventional clean coal technologies which consist of coarse coal cleaning by gravity methods and treatment of natural fines by flotation can only remove a portion of the pyritic sulfur and ash in the coal. Higher (+90%) pyritic sulfur rejection is attainable when coals are ground to ultrafine sizes to enhance liberation of the mineral matter and then cleaned. However, cleaning of coal at very fine sizes poses a number of unsolved problems, the chief one being the loss of cleaning efficiency. This, of course, means that liberation of pyrites does not always equal its rejection. In addition, the dewatering of fine- cleaned coal, and its handling, transportation, and acceptability to the utility industry a1 so pose considerable technical and economic problems, especially when compared to the FGD alternative. This paper addresses some of the critical issues involved in the cleaning of ultrafine coal s.

Jan 1, 1989

By James E. Hoffmann

Oxidative pressure leaching is gradually supplanting other techniques for the decopperizing of slimes. The reasons for this include: much more rapid reactions, more compact equipment, a reduced environmental burden, and perhaps most important, a much lower final copper concentration in the decopperized slimes. This paper will discuss the reactions occurring during decopperization, the acidity and temperatures encountered and the techniques employed for discharging non condensable gasses. A spreadsheet is provided which allows adjusting the operating conditions depending upon raw (undecopperized) slimes composition, solids concentration and lixiviant composition. A typical process equipment flowsheet is provided along with a process narrative.

Jan 1, 2000

By Lynch K. S, Street R. P

Hamersley Iron's pellet plant at Dampier involves ore drying, dry grind- ing in ball mills, disc balling and, indurating by use of the straight grate system. After five years of operation, the plant's output has been increased from the design capacity level of 2 M.T.P.Y. to 2.5 M.T.P.Y. Steps taken in equipment modifica- tion, improvements in process control, and changes in maintenance procedures are described.

Jan 1, 1973

By Zhu Fangyi

"The article introduces the process EAF with De-P hot metal charging for Melting Stainless Steel in Baosteel stainless steel Branch. Based on the practice of production, the main effect on the Cr Loss during EAF with De-P Hot Metal Charging Melting Stainless Steel including using oxygen, the material charging and making slag are theoretically analyzed. The optimization of using oxygen can reduce the oxidation of Cr during EAF Melting Stainless Steel. The optimization of material charging, especially Si content is suitable can reduce the loss of Cr. Effective reduction can realize the lowest Cr oxide in slag. Based on the character of the process EAF with De-P hot metal charging for Melting Stainless Steel, applied the integrated control method, the Cr loss during EAF melting stainless steel decreased 43.10%. 1 INTRODUCTION EAF with De-P HM charging for melting stainless steel is a technology for stainless steel making. Practice prove that the new process can shorten tap to tap time, reduce the special power consumption, dilute the impurity element from the stainless steel scrap that is propitious to produce the high quality stainless steel, alleviate the shortage of stainless steel scrap to the production. As a new technology, the process has some technical problems and difficulties. The proportion of Cr alloy charging exceeds 20% during EAF with De-P hot metal charging melting stainless steel. As Cr alloy is difficult melting and easy oxidation, too much Cr alloy charging result in Cr loss too much and tap to tap time too long for EAF production. By applying the new technology, Baosteel stainless steel branch has increased the technology level and economy index. Now the content of Cr oxide in slag reduce from 8.59% to less than 6.0%. The Cr loss during EAF melting stainless steel decreased 43.10%. According to the practice application, the process of EAF with De-P HM melting stainless steel are theoretically analyzed. The main factors affecting the Cr loss during EAF with De-P hot metal charging melting stainless steel are discussed."

Jan 1, 2008

By N. J. Peberdy, C. N. Moreton, K. C. Garner

Introduction During the past decade a major objective of the process industry has been to use digital computer technology to improve plant operating efficiencies. This objective implied some form of optimization, a concept that has various interpretations depending on the view of the prospective user. For the purpose of this paper, optimization of a process plant is defined as the establishment and setting of plant operating conditions that maximize some mathematical yield function, i.e. maximum profit, minimum residue, etc. Analysis of these objectives and the available design and implementation techniques led to the conclusion that digital computer and optimization techniques are not the stumbling blocks, but rather the development and derivation of the mathematical models of the unit operations and process plants to be optimized. Such models should not only describe the optimized (steady-state) objective, but also how one steers to this state (control algorithm). Due to the multidisciplinary nature of the skills associated with the design and operation of process plants, the development of suitable models by a single discipline, such as the process control engineer, was found to be not only difficult but often impossible, due to budget and human resource limitations. To over-come these limitations, a computer aided design (CAD) tool has been developed. It aims to provide a productivity tool to the various disciplines, at the same time coordinating the technical input from each. The system described is but the starting point in an evolutionary development of a tool that, with use, is becoming more efficient and cost effective to use. Development has become an application engineering activity rather than the preserve of the computer specialist. Project phasing The development of a mathematical description of a process plant requires coordination of information from conceptual design to operation management. The activities required to build and operate a process plant are divided into four basic chronological activities or phases. These activities are often undertaken by different organizations and disciplines. As a result, continuity is often lost with the resultant loss of critical design data. The major activities are considered to be: conceptual and flowsheeting; detailing around the P & ID; building and commissioning; and plant operation. The CAD system described provides a design tool to be used for each of these activities, as well as providing continuity between the activities and the disciplines involved. The heart of the system is the dynamic simulation of the flowsheet. Each of the activities will be discussed, leading to two simple examples that demonstrate the use of the simulator. Figure 1 shows a schematic format of the various activities and the path followed by the dynamic flowsheet simulator in the life of a project. Flowsheet development The prime requirements in the design and develop¬ment of a process flowsheet are • selection of the correct unit operations to achieve the most economic (capital and operating) beneficiation of the specified reserve ; • the sizing of the unit operations to achieve the desired results, as a function of the projected feed rates etc., to handle the time related (dynamics) of the process; and • the production of a set of engineering documents showing the drawn and labeled flowsheet with an equipment list and process specification for each of the unit operations. The question may well be asked at this stage why dynamic flowsheet simulation should be considered when steady state modeling has been found to be adequate to date. With the increases encountered in the cost of capital, one often cannot afford the luxury of designing around the compounding worst case technique. Further, a more accurate design of the control surges can be achieved. No information is lost in that the steady state solution is in fact a subset of the dynamic model. In generalized state space modeling, the differential equations describing the process dynamics are illustrated in the following matrix notation: XDOT=A.X+B.U(1) Y =C.X+D.U(2) where XDOT describes the set of first order derivatives of the system state Vector, and X- is the system state Vector; A - is the system matrix operator which in the general nonlinear case is both a function of X and time ; U- is the process input vector; B - is the input mapping matrix; Y - is the set of observations; C - is the output mapping matrix which maps X - onto Y; and D- maps the input onto the observations. Thus, by time integration of the system dynamic equations, described in (1), the dynamic trajectory away from any set of initial conditions can be deter¬mined. Further, by finding the conditions at which XDOT = 0, the steady state solution can be determined.

Jan 1, 1987