Fractional-order single state reset element

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This paper proposes a fractional-order reset element whose architecture allows for the suppression of nonlinear effects for a range of frequencies. Suppressing the nonlinear effects of a reset element for the desired frequency range while maintaining it for the rest is beneficial, especially when it is used in the framework of a “Constant in gain, Lead in phase” (CgLp) filter. CgLp is a newly introduced nonlinear filter, bound to circumvent the well-known linear control limitation—the waterbed effect. The ideal behaviour of such a filter in the frequency domain is unity gain while providing a phase lead for a broad range of frequencies. However, CgLp’s ideal behaviour is based on the describing function, which is a first-order approximation that neglects the effects of the higher-order harmonics in the output of the filter. Although CgLp is fundamentally a nonlinear filter, its nonlinearity is not required for all frequencies. Thus, it is shown in this paper that using the proposed reset element architecture, CgLp gets closer to its ideal behaviour for a range of frequencies, and its performance will be improved accordingly.
Original languageEnglish
Pages (from-to)413-427
JournalNonlinear Dynamics
Issue number1
Publication statusPublished - 2021


  • Mechatronics
  • Motion control
  • Nonlinear control
  • Reset control
  • Fractional order control


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