Related papers: Beyond the Waterbed Effect: Development of Fractio…
In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…
The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…
This paper addresses nonlinearity in reset elements and their effects. Reset elements are known for having less phase lag compared to their linear counterparts; however, they are nonlinear elements and produce higher-order harmonics. This…
According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…
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…
This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that…
A key factor that generates significant interest in reset control systems, especially within industrial contexts, is their potential to be designed using a frequency-domain loop-shaping procedure. On the other hand, formulating and…
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
PID controllers cannot satisfy the high performance requirements since they are restricted by the water-bed effect. Thus, the need for a better alternative to linear PID controllers increases due to the rising demands of the high-tech…
This paper addresses the main goal of using reset control in precision motion control systems, breaking of the well-known "Waterbed effect". A new architecture for reset elements will be introduced which has a continuous output signal as…
Reset elements are nonlinear filters that improve control performance beyond linear time-invariant (LTI) limits but introduce higher-order harmonics that complicate design. Although frequency-domain tools like describing functions (DFs) and…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
The ever-increasing industry desire for improved performance makes linear controller design run into fundamental limitations. Nonlinear control methods such as Reset Control (RC) are needed to overcome these. RC is a promising candidate…
Inspired by online learning, data-dependent regret has recently been proposed as a criterion for controller design. In the regret-optimal control paradigm, causal controllers are designed to minimize regret against a hypothetical optimal…
Nowadays, the demand for an alternative to linear PID controllers has increased because of the rising expectations of the high-precision industry. The potential of reset controllers to solve this important challenge has been extensively…
This paper proposes a robust regret control framework in which the performance baseline adapts to the realization of system uncertainty. The plant is modeled as a discrete-time, uncertain linear time-invariant system with real-parametric…
The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
According to the well-known loop-shaping control design approach, the steady-state precision of control systems can be improved by stacking integrators. However, due to the waterbed effect in linear control systems, such an action will…