Some selected publications:

Please visit the following pages for a comprehensive list of publications:


  1. I. Craig et al., Control in the Process Industries, in “The Impact of Control Technology”, T. Samad and A.M. Annaswamy (eds.), IEEE Control Systems Society, 2011, available at
  2. Last CEP Editorial: Craig, I.K., Valedictory editorial, Control Engineering Practice, Vol. 18, No. 8, 2010, pp. 837-838.
  3. IEEE CSM Interview with Ian Craig: People in Control - Model and Metal. Re, L.D.; Craig, I., IEEE Control Systems Magazine, Vol. 27, Issue 5, 2007, pp. 18-23.

Model-based control and optimisation in the process industries:

  1. Wiid, A.J., J.D. le Roux, and I. K. Craig, Pressure Buffering Control to Reduce Pollution and Improve Flow Stability in Industrial Gas Headers, Control Engineering Practice, vol. 115, 2021, Article 104904.
  2. Oosthuizen, D.J., J.D. le Roux, and I. K. Craig, A dynamic flotation model to infer process characteristics from online measurements, Minerals Engineering, Vol. 167, 2021, Article 106878.
  3. Wiid, A.J., J.D. le Roux, and I. K. Craig, Pressure Measurement Location Selection in Industrial Gas Headers for Buffering Control, Computers & Chemical Engineering, 107178, 2021.
  4. Wiid, A.J., J.D. le Roux, and I. K. Craig, Modelling of Methane-Rich Gas Pipeline Networks for Simulation and ControlJournal of Process Control, Vol. 92, 2020, pp. 234-245.
  5. Le Roux, J.D., Steinboeck, A., Kugi, A., and Craig, I.K., Steady-state and dynamic simulation of a grinding mill using grind curves, Minerals Engineering, Vol. 152, 2020, Article 106208.
  6. Viljoen, J.H., Muller, C.J., and Craig, I.K., Hybrid non-linear model predictive control of a cooling water network, Control Engineering Practice, Vol. 97, 2020, Article 104319.
  7. Sun, B., Yang, C., Wang, Y., Gui, W., Craig, I., and L. Olivier, A comprehensive hybrid first principles/machine learning modeling framework for complex industrial processes, Journal of Process Control, Vol. 86, 2020, pp. 30–43.
  8. Meyer, E.J., Olivier, M.C., Matumba L., and Craig I.K., Model predictive control simulation, implementation and performance assessment of a coal comminution circuit, Minerals Engineering, Vol. 144, 2019, 106024. Video describing the implementation is available from:
  9. Le Roux, J.D. and Craig, I.K., A plant-wide control framework for a grinding mill circuit, Industrial & Engineering Chemistry ResearchVol. 58, 2019, pp.11585–11600.
  10. Botha, S., Le Roux, J.D., and Craig, I.K., Hybrid non-linear model predictive control of a run-of-mine ore grinding mill circuit, Minerals Engineering, Vol. 123, 2018, pp.49–62.
  11. Viljoen, J.H., Muller, C.J., and Craig, I.K., Dynamic Modelling of Induced Draft Cooling Towers with Parallel Heat Exchangers, Pumps and Cooling Water Network, Journal of Process Control, Vol. 68, 2018, pp.34–51.
  12. Olivier, L.E. and Craig, I.K., Should I Shut down my Processing Plant? - An Analysis in the Presence of Faults, Journal of Process Control, Vol. 56, 2017, pp. 35–47.
  13. Muller, C.J., and Craig, I.K., Economic Hybrid Non-linear Model Predictive Control of a Dual Circuit Induced Draft Cooling Water System, Journal of Process Control, Vol. 53, 2017, pp. 37–45.
  14. Le Roux, J.D., Steinboeck, A., Kugi, A., and Craig, I.K., An EKF observer to estimate semi-autogenous grinding mill hold-ups, Journal of Process Control, Vol. 51, 2017, pp. 27–41.
  15. Le Roux, J.D., Olivier, L.E., Naidoo, M.A., Padhi, R., and Craig, I.K., Throughput and product quality control for a grinding mill circuit using Nonlinear MPC, Journal of Process Control, Vol. 42, 2016, pp. 35-50. DOI: 10.1016/j.jprocont.2016.04.007.2016.
  16. Muller, C.J., and Craig, I.K., Energy Reduction for a Dual Circuit Cooling Water System Using Advanced Regulatory Control, Applied Energy, Vol. 171, 2016, pp. 287-295.
  17. Olivier, L.E. and Craig, I.K., Development and application of a model-plant mismatch expression for linear time-invariant systems, Journal of Process Control, Vol. 32, 2015, pp. 77-86.
  18. Meyer, E.J., and Craig, I.K., Dynamic model for a coal dense medium drum separator in coal beneficiation, Minerals Engineering, Vol. 77, 2015, pp. 78-85.
  19. Muller, C.J., and Craig, I.K., Modelling of a Dual Circuit Induced Draft Cooling Water System for Control and Optimisation Purposes, Journal of Process Control, Vol. 25, No. 1, 2015, pp. 105-114.
  20. Le Roux, J.D., Padhi, R., and Craig, I.K., Optimal Control of Grinding Mill Circuit using Model Predictive Static Programming: A New Nonlinear MPC Paradigm, Journal of Process Control, Vol. 24, No. 12, 2014, pp. 29-40.
  21. Meyer, E.J., and Craig, I.K., Coal dense medium separation dynamic and steady-state modelling for process control, Minerals Engineering, Volumes 65, 2014, pp. 98-108.
  22. Le Roux, J.D. and Craig, I.K., Reducing the number of size classes in a cumulative rates model used for process control of a grinding mill circuit, Powder Technology, Vol. 246, Sep. 2013, pp. 169-181.
  23. Matthews, B., Craig, I.K., Demand Side Management of a Run-of-Mine Ore Milling Circuit, Control Engineering Practice, Vol. 21, No. 6, 2013, pp. 759-768.
  24. Le Roux, J.D., Craig, I.K., D.G. Hulbert, and A.L. Hinde, Analysis and validation of a run-of-mine ore grinding mill circuit model for process control, Minerals Engineering, Volumes 43–44, 2013, pp. 121-134.
  25. Olivier, L.E. and Craig, I.K., Model-plant mismatch detection and model update for a run-of-mine ore milling circuit under model predictive control, Journal of Process Control, Vol. 23, No. 1, 2013, pp. 100-107.
  26. Ricker, N.L, Muller, C.J., and Craig, I.K., Fuel-gas blending benchmark for economic performance evaluation of advanced control and state estimation. Journal of Process Control, Vol. 22, No. 6, 2012, pp. 968-974.  For downloadable code see:
  27. Craig, I.K., Grinding mill modelling and control: past, present and future, Plenary Lecture, 31st Chinese Control Conference, Hefei, China, 25-27 Jul. 2012. 
  28. Olivier, L.E., Huang, B., and Craig, I.K., Dual particle filters for state and parameter estimation with application to a run-of-mine ore mill, Journal of Process Control, Vol. 22, No. 4, 2012, pp. 710-717.
  29. Olivier, L.E., Craig, I.K., and Y.Q. Chen, Fractional Order and BICO Disturbance Observers for a Run-of-Mine Ore Milling Circuit, Journal of Process Control, Vol. 22, No. 1, 2012, pp. 3-10.
  30. Muller, C.J., Craig, I.K., and Ricker, N.L., Modelling, Validation, and Control of an Industrial Fuel Gas Blending System, Journal of Process Control, Vol. 21, No. 6, 2011, pp. 852-860. 
  31. Meyer, E.J., and Craig, I.K., The development of dynamic models for a dense medium separation circuit in coal beneficiation, Minerals Engineering, Vol. 23, No. 10, 2010, pp. 791–805.
  32. Coetzee, L.C., Craig, I.K., and Kerrigan, E.C., Robust model predictive control of a run-of-mine ore milling circuit. IEEE Transactions on Control Systems Technology, Vol. 18, No. 1, Jan. 2010, pp. 222-229.
  33. Wei, D., and Craig, I.K., Economic performance assessment of two ROM ore milling circuit controllers. Minerals Engineering, Vol. 22, No. 9-10, 2009, pp. 826-839. 
  34. Wei, D., Craig, I.K., Grinding Mill Circuits - A Survey of Control and Economic Concerns, International Journal of Mineral Processing, Vol. 90, No.1-4, 16 Feb. 2009, pp. 56-66.
  35. Bauer, M., and Craig, I.K., Economic assessment of advanced process control - A survey and framework, Journal of Process Control, Vol. 18, No. 1, 2008, pp. 2-18.
  36. Bauer, M., Craig, I.K., Tolsma, E., and de Beer, H., A profit index for assessing the benefits of process control, Industrial & Engineering Chemistry Research, Vol. 46, No. 17, 2007, pp. 5614-5623.
  37. Oosthuizen, D.J., Craig, I.K., and Pistorius, P.C., Economic evaluation and design of an Electric Arc Furnace controller based on economic objectives, Control Engineering Practice, Vol. 12, No. 3, 2004, pp. 253-265. 
  38. Craig, I.K., and Koch, I., Experimental design for the economic performance evaluation of industrial controllers, Control Engineering Practice, Vol. 11, No. 1, 2003, pp. 57-66. 
  39. Craig I.K., and Henning, R.G.D., Evaluation of advanced industrial control projects: a framework for determining economic benefits, Control Engineering Practice, Vol. 8, No. 7, 2000, pp. 769-780.
  40. Bekker, J.G., Craig, I.K., and Pistorius, P.C., Modeling and simulation of an electric arc furnace off-gas process, ISIJ International, Vol. 39, No.1, 1999, pp. 23-32.


​Model-based control of disease networks:

  1. Olivier, L.E., Botha, S. and Craig, I.K., Optimized lockdown strategies for curbing the spread of COVID-19: A South African case study, IEEE Access. Vol. 8, 2020, pp. 205755-205765.  10.1109/ACCESS.2020.3037415

  2. Olivier, L.E., and Craig, I.K., An epidemiological model for the spread of COVID-19: A South African case study, 2020. .

  3. Küsel, R.R., Craig, I.K., and Stolz, A.C., Modelling the airborne infection risk of tuberculosis for a research facility in eMalahleni, South Africa, Risk Analysis, Vol. 39, No. 3, 2019, pp. 630-646.

  4. du Toit, E.F. and Craig I.K., Selective pinning control of the average disease transmissibility in an HIV contact network, Physical Review E, Vol. 92, 012810, 2015.

  5. du Toit, E.F. and Craig, I.K., Quantifying the Impact of Two Pinning Control Strategies on HIV Incidence, IFAC Proceedings Volumes, Volume 47, Issue 3, 2014, pp. 7511-7516. DOI: 10.3182/20140824-6-ZA-1003.01005

  6. Craig, I.K., HIV/AIDS therapy as a control engineering problem, Plenary Lecture, 2nd International Conference on Advances in Control and Optimization of Dynamical Systems, Bangalore, India, 16-18 Feb. 2012.

  7. Jeffrey, A.M., Xia, X., and Craig, I.K., Structured Treatment Interruptions: A control mathematical approach to protocol design, Journal of Process Control, Vol. 17, No. 7, 2007, pp. 586-590. 

  8. Doyle III, F.J., Jovanovic, L., Seborg, D.E., Parker, R.S., Bequette, B.W., Jeffrey, A.M., Xia, X., Craig, I.K., and Mc Avoy, T.J., A tutorial on biomedical process control, Journal of Process Control, Vol. 17, No. 7, 2007, pp. 571-572.

  9. Craig, I.K., and Xia, X., Can HIV/AIDS be controlled?, IEEE Control Systems Magazine, February 2005, pp. 80-83. 

  10. Craig, I.K., Xia, X., and Venter, J.W., Introducing HIV/AIDS Education into the Electrical Engineering Curriculum at the University of Pretoria, IEEE Transactions on Education, Vol. 47, No. 1, 2004, pp. 65-73. This paper is used extensively as a Progressive Analysis and Design Problem in the textbook “Control Systems Engineering” by Norman S. Nise, 5th Edition, John Wiley and Sons, 2008. 

  11. Jeffrey, A.M., Xia, X., and Craig, I.K., When to Initiate HIV Therapy: A Control Theoretic Approach, IEEE Transactions on Biomedical Engineering, Vol.50, No. 11, 2003, pp. 1213- 1220. 

- Author jdleroux
Published by Derik le Roux

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