In the context of Industry 4.0, emerging manufacturing systems play a crucial role. This chapter is dedicated to an innovative milling system in which the object to be milled is fixed by an ice-clamping system. This system allows us to obtain “zero deformation” of the object, and thus we obtain a precise milling process. The chapter takes into consideration the control strategy based on Sliding Mode Control to obtain robust results even in the absence of the knowledge of the system to be controlled. The measured results are shown to demonstrate the effectiveness of the proposed device and its control strategy.