Beyond the waterbed effect: Development of fractional order CRONE control with non-linear reset

Linda Chen, Niranjan Saikumar, Simone Baldi, Hassan Hossein Nia Kani

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

10 Citations (Scopus)


In this paper a novel reset control synthesis method is proposed: CRONE reset control, combining a robust fractional CRONE controller with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved by creation of constant phase behaviour around bandwidth with the use of fractional operators, also allowing more freedom in shaping the open-loop frequency response. However, being a linear controller it suffers from the inevitable trade-off between robustness and performance as a result of the waterbed effect. Here reset control is introduced in the CRONE design to overcome the fundamental limitations. In the new controller design, reset phase advantage is approximated using describing function analysis and used to achieve better open-loop shape. Sufficient quadratic stability conditions are shown for the designed CRONE reset controllers and the control design is validated on a Lorentz-actuated nanometre precision stage. It is shown that for similar phase margin, better performance in terms of reference-tracking and noise attenuation can be achieved.

Original languageEnglish
Title of host publicationProceedings of the 2018 Annual American Control Conference (ACC 2018)
Place of PublicationPiscataway, NJ, USA
ISBN (Print)9781538654286
Publication statusPublished - 2018
Event2018 Annual American Control Conference - Milwauke, United States
Duration: 27 Jun 201829 Jun 2018


Conference2018 Annual American Control Conference
Abbreviated titleACC 2018
Country/TerritoryUnited States


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