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Published in IET Control Theory and Applications
Received on 17th August 2011
Revised on 16th October 2012
Accepted on 16th December 2012
doi: 10.1049/iet-cta.2011.0498

ISSN 1751-8644

Frequency domain properties of reset systems with

multiple reset anticipations
José Antonio González Prieto1 Antonio Barreiro1 Sebastián Dormido2
1 Departamento de Ingeníera de Sistemas y Automática, E.T.S.I. Industriales Vigo
2 Departamento Informática y Automática, UNED Madrid
E-mail: jagprieto@uvigo.es

Abstract: A reset controller is a controller that operates most of the time as a linear system, except when some condition
holds. The typical reset condition is the zero crossing of the tracking error signal, e(t) = 0. At this moment, the controller
performs a zero resetting action on its state. It has been shown that reset control is able to overcome fundamental linear
limitations. This article studies, within a frequency-domain framework, the generalisation of reset control systems based on
including some anticipation on the reset condition.This has a favourable phase lead effect. The paper discusses different
reset anticipations schemes, including multiple reset actions in the same period, computes Fourier harmonics and describing
function of general reset controllers and shows explicitly the overcoming of frequency-domain limitations (Bode’s gain–phase
relation).

1 Introduction be done by means of a PD or lead block acting on the trigger

The idea of reset control was originated with the Clegg inte-
grator (CI) [1] and was formalised by Horowitz et al. [2, 3]
in the 1970s. Since those early works, it was clear that the
benefit was to outperform linear solutions and to overcome
fundamental limitations by means of an extremely simple
action: resetting to zero the states of the controller when the
tracking error is zero.
Somewhat later, new formalised results were presented by
Chait and co-workers in [4–8] for general reset systems, with
arbitrary dimension, based on the Horowitz’s reset condition
(zero crossing of the error).
After that, new strategies for reset control were proposed
and studied in [9–12] using another formulation of the reset
condition, based on the sign of the input and output con-
troller signals, or using a fixed reset interval as in [13, 14].
Recently, new ideas are being proposed for reset systems,
based on slight modifications of the reset conditions or the
reset actions. Since these modifications are quite simple,
they preserve the easiness of implementation but, at the same
time, they are able to provide performance improvement,
compared with conventional reset, and thus ‘generalised
reset controllers’ contribute remarkably to overcoming linear
fundamental limitations.
The typical generalisations of the reset action are for
example ‘ partial reset’, when the state xi is reset to a per-
centage of its value xi+ = pxi or even variable partial reset,
with p = p(t) variable. This ideas have been successfully
applied, for example, in some process applications [15, 16]
by means of PI+CI controllers.
The generalisations of the reset conditions are usually
based on including some type of anticipative effect. This can
signal e(t), as done in [17] for compensating the commu-
nication delay in a teleoperation application. Alternatively,
anticipation can be implemented in the form of ‘reset band’
defined in the (e, ė) plane [18–20], and stability analysis in
systems with delays has been proposed in [21].
In this work, we make two basic choices: (i) the reset con-
ditions are based on the controller input, that is, the error
signal e(t) (not on the input and ‘ouput’ of the controller)
following the original ideas of Horowitz and (ii) the gen-
eralisations that we explore are the anticipation of the reset
condition (anticipation of the zero crossings of e(t)).
This paper adopts a frequency-domain approach as in
[22], and it is believed that the two previous choices are ade-
quate to this purpose, since anticipation has a direct influence
on phase lead, which in turn will facilitate the overcoming
of frequency-domain trade-offs. However, other possibili-
ties for reset conditions and reset generalisations might in
principle be also useful, but this will require future work.
Having in mind these motivations, the main objective of
this paper is to study the frequency-domain behaviour of
reset control systems in which the reset condition is antici-
pated. In the spirit of this idea, the precise objectives of this
paper are as follows.
First, in Section 2, we define the model of a reset system
on an anticipative environment, with an interesting original
proposal based on the the implementation of multiple reset
conditions in the same period, what we call here ‘multiple
anticipation’.
Second, in Sections 3 and 4, this paper contributes with
a complete frequency-domain analysis based on computa-
tion of Fourier harmonics and describing function, for ‘any’
base linear model (Ar , Br , Cr , Dr ) of the reset controller. The

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results are particularised to common reset controllers (Clegg reasons given in the Introduction section. To explain it with
and First-Order Reset Element (FORE)) an example, consider the signals in Fig. 2. The input signal
Finally, in Section 5, based on the previous analysis, we is the sinusoidal
show how the frequency-domain limitations based on Bode’s
gain–phase relation can be outperformed with simple reset er (t) = E sin ωt = E sin ψ (2)
controllers including single or multiple anticipative effects
developing a numerical example based on a simple time-
delay plant. with E = ω = 1. In standard reset, cr (t) = er (t) and thus the
reset instants would appear at times t = tk = π k/ω, with
k = 1, 2, . . ..
2 Reset linear systems model with Let us suppose that we want to implement two advanced
anticipative resets reset actions, so we have to define two angles ψ1 , ψ2 and
trigger the resets at the instants π−ψ ω
1
and π−ψ ω
2
at each
2.1 Problem statement with anticipative reset semi-period; see Fig. 2. If the base linear controller is an
integrator, the resulting output is also shown in Fig. 2.
Let us consider the reset control system shown in Fig. 1, Realisation of the anticipative block A. The block could
where exogenous signals are omitted for simplicity. The be defined in different ways employing different implemen-
system is formed by a plant with transfer function G(s) and tations: angle or module based, fixed reset interval time
a controller based on a reset system (RS) given by triggering, …; but for the purpose of this paper, we assume
⎧ that a multiple anticipation trigger signal is set up by Q
⎨ ẋr (t) = Ar xr (t) + Br er (t), if cr (t)  = 0
⎪ anticipation reset angles {ψq } = {ψ1 , ψ2 , . . . ψQ } (ψ1 > ψ2 >
RS : xr (t + ) = Aμ xr (t) + Bμ er (t), if cr (t) = 0 (1) · · · > ψQ ) defined on a semi-period, so that the ‘reset trigger
⎪
⎩ law’ becomes
yr (t) = Cr xr (t) + Dr er (t).
nπ − ψq
The controller operates most of the time as a linear system, cr (tqn ) = 0 ⇐⇒ tqn = n ∈ N + ∧ q = 1, 2, . . . , Q
ω
with ‘base’ linear model BLS(s) = Cr (sI − Ar )−1 Br + Dr , (3)
but when the ‘trigger’ signal cr (t) crosses zero, it performs
an instantaneous resetting xr (t) → xr (t + ) on its state. A detailed study of this trigger generation would be devel-
In standard reset, the reset condition is the zero crossing oped on a future work.
of the error, cr (t) = er (t). In this paper, we are interested
in advancing the trigger and thus anticipating reset, for the
2.2 Working hypothesis

We assume the following working hypothesis:

1. We focus on the frequency properties for systems with

‘Reset Law condition’ defined by

Fig. 1 Reset control system Aμ = Bμ = 0

Fig. 2 Sinusoidal input (solid), integrator output (dash-dot line) and a CI with two advanced reset actions ψ1 , ψ2 output (dashed line)

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2. We want to analyse the frequency response of reset so from ‘Appendix 1: Notation Definitions’ we have
system so we suppose a pure sinusoidal input signal
1
er (t) = E sin ωt = E sin ψ D− = D+ =
jω
1
3. The ‘Reset Trigger Law’ is fully described by a collection Dn− =
of Q angles {ψq } = {ψ1 , ψ2 , . . . , ψQ } and the relation with jnω
tk = tqn (3), so {ψq } identifies any reset trigger instant tk over 2 cos ψq
all time evolution. D(ψq ) =
jω
4. We limit the maximum reset angle to π2 , so we obtain
{ψq } < π2 ∀q = 1, 2 . . . , Q. 2
F(π − ψQ , π ) = (cos ψQ − 1)
jω
Based on these assumptions the system described by (1) ⎧
⎪
⎨0 n = 2, 4, 6, . . .
could be represented by
Gnψq = 2
⎧ ⎪
⎩− (ejnψq+1 − ejnψq ) n = 1, 3, 5, . . .
⎨ ẋr (ψ) = Ar xr (ψ) + Br er (ψ) if ψ ∈
⎪ / {ψq }
⎧
jn
+
RSψ : xr (ψ ) = 0 if ψ ∈ {ψq } (4) ⎪ n = 2, 4, 6, . . .
⎪
⎩ ⎪
⎪
0
yr (ψ) = Cr xr (ψ) + Dr er (ψ) ⎪
⎪
⎪
⎨ Q
4 cos ψq jψq+1
HnFQ = jω
2π
− (e − ejψq ) n = 1
where ψ = ωt with ω fixed. ⎪
⎪ ω
⎪
⎪ q=0
⎪
⎪ 
⎩− Q 4 cos ψq (ejnψq+1 − ejnψq ) n = 3, 5, . . .
2.3 RS solution with anticipative reset and q=0 ωn
sinusoidal input
Combining these results with (29), the expression of the
The solution for the system defined on (4) is developed in
Fourier spectral coefficients for CI systems with reset anti-
Appendix 1 based on Fourier analysis, where the state solu-
cipations is
tion xr (ψ) is taken from (27) (see equation at the bottom of
the page)
E
and the output yr (ψ) solution can be obtained from (28) and Cn(CI ) =
(29) 4jπ
⎧
⎪
⎪ 0 n = 2, 4, 6, . . .

∞ ⎪
⎪
yr (ψ) = −jnψ ⎪
⎪ 4 jψ1 2π
Cn e ⎪
⎪ (e + 1)(cos ψQ − 1) +
⎪
⎪
n=−∞ ⎪
⎪
ω jω
⎪
⎪
E ⎪
⎪  4 cos ψq
Q
Cn = [Cr (Gnψ0 F(π − ψQ , π) + HnFQ )Br + Dr Hn− (0, 2π )] ⎪
⎨−
4π j (ejψq+1 − ejψq ) n=1
· ω
⎪
⎪
q=0
ψ
The functions F(ψ0 , ψ1 ), Hn− (ψ0 , ψ1 ), Gn q and HnFQ are ⎪
⎪ 4 jnψ
⎪
⎪
defined in ‘Appendix 1: Notation Definitions’. ⎪
⎪ (e 1 + 1)(cos ψQ − 1)
⎪
⎪ ωn
⎪
⎪ Q
⎪
⎪  4 cos ψq
⎪
⎪−
3 Frequency analysis of CI reset systems ⎪
⎩ (ejnψq+1 − ejnψq ) n = 3, 5, 7, . . .
q=0
ωn
3.1 Fourier analysis of CI systems with reset
anticipations Now we apply this solution to obtain expressions for some
CI anticipation cases.
The Fourier analysis of CI systems with reset anticipations Case 0: Standard CI
implies There is no anticipation on reset generation for this
A r = 0 Br = 1 C r = 1 D r = 0 case, so {ψq } = {0} and the Fourier spectral coefficients are

E  Ar ψ

xr (ψ) = −e ω F(π − ψQ , π) + F(0, ψ Br 0 ≤ ψ < π − ψ1
2j
E
xr (ψ) = F(π − ψq , ψ)Br π − ψq ≤ ψ < π − ψq+1
2j
E  Ar ψ −Ar π 
xr (ψ) = e ω e ω F(π − ψQ , π) + F(π , ψ) Br π ≤ ψ < 2π − ψ1
2j
E
xr (ψ) = F(2π − ψq , ψ)Br 2π − ψq ≤ ψ < 2π − ψq+1
2j
(q = 1, 2, . . . , Q ∧ ψQ+1 = 0)

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defined by
⎧
⎪
⎪0 n = 2, 4, 6, . . .
⎪
⎪
⎪
⎨ 2π 8
E + n=1
Cn(CI0 ) = jω ω
4jπ ⎪
⎪
⎪
⎪
⎪
⎩ 8 n = 3, 5, 7, . . .
ωn
As mentioned in ‘Appendix 1: Fourier analysis’ the
‘Describing Function’ could be obtained from DF(CI0 ) =
2j
C so
E 1

1 4
DF(CI0 ) = 1+j (5)
jω π
Case 1: CI with one anticipative reset action
In this case, {ψq } = {ψ1 } with 0 < ψ1 < π2 , so the Fourier
spectral coefficients are defined by
⎧ Fig. 3 Phase against reset anticipation angle ψ1
⎪
⎪ 0 n = 2, 4, 6, . . .
⎪
⎪
⎪
E ⎨ 2π + 8 cos ψ1 e
jψ1

Cn(CI1 ) = n=1
4jπ ⎪ jω ω
⎪
⎪
⎪
⎪ 8 cos ψ e jnψ1
⎩ 1
n = 3, 5, 7, . . .
ωn
The ‘Describing Function (DF)’ expression becomes

1 4 cos ψ1 ejψ1
DF (CI1 )
= 1+j (6)
jω π

Case 2: CI with two anticipative reset actions

In this case, {ψq } = {ψ1 , ψ2 } with 0 < ψ1 , ψ2 < π2 , so the
Fourier spectral coefficients are defined by
⎧
⎪
⎪ 0 n = 2, 4, 6, . . .
⎪
⎪
⎪
⎪ 2π 4
⎪
⎪ + [cos ψ1 (ejψ1 − ejψ2 )
⎪
⎪
⎪ jω ω
E ⎨
Cn(CI2 ) = + cos ψ2 (ejψ1 + ejψ2 )] n=1
4jπ ⎪
⎪ Fig. 4 Phase against reset anticipation angles ψ1 ψ2
⎪
⎪
⎪
⎪ 4
⎪
⎪ [cos ψ1 (ejnψ1 − ejnψ2 )
⎪
⎪ ωn
⎪
⎩
+ cos ψ2 (ejnψ1 + ejnψ2 )] n = 3, 5, 7, . . .
• For ψ  0.18π rad the introduced phase lag is minimum
The ‘DF’ is with value  −25.04◦

1 2
DF(CI2 ) = 1 + j [cos ψ1 (ejψ1 − ejψ2 )
jω π for double-reset anticipation systems.
+ cos ψ2 (ejψ1 + ejψ2 )]
3.2 Frequency properties of CI systems with reset
anticipations
First, using DF, we examine and compare frequency prop-
erties for systems based on the CI with one and two reset
anticipation actions.
Fig. 3 shows phase properties for single reset anticipation
system given by (6).
• For 0.29π < ψ < 0.5π rad the introduced phase lag is
greater than the phase lag of the standard CI.
• For 0 < ψ < 0.29π rad the introduced phase lag is
smaller than the phase lag of standard CI.
4 IET Control Theory Appl., pp. 1–14
© The Institution of Engineering and Technology 2013
The Fig. 4 shows the phase properties when (7) is used
(7)
• For 0.25π < ψ1 < 0.45π rad and 0 < ψ2 < 0.10π rad,
the phase lag is about −10◦ smaller than the introduced in
single reset anticipation.
• The phase lag sensitivity to uncertainly in the application
of the reset angles {ψq } has been reduced, compared with
the single reset anticipation. In the single anticipation case
(Fig. 3), if we choose {ψ1 } = 0.18π we achieve a phase lag
 −25.04◦ . If ψ1 is applied as ψ1∗ with uncertainly |ψ1∗ −
ψ1 | ≤ 0.1π , the small phase lag property can be lost, from
−25.04◦ to −36◦ (see Fig. 3). In the double anticipation case
(Fig. 4), if we choose {ψ1 , ψ2 } = {0.35π , 0.10π } the we have
a phase lag of  −8.5◦ . If the angles are realised as ψ1∗ , ψ2∗
with the same uncertainly ||(ψ1∗ , ψ2∗ ) − (ψ1 , ψ2 )|| ≤ 0.1π the
the small phase lag is deteriorated, but only from  −8.5◦
to  −15◦ , thus the sensitivity is smaller.
doi: 10.1049/iet-cta.2011.0498

Fig. 5 Bode diagrams for CI reset system with anticipative actions
Fig. 6 Sinusoidal response for CI reset system with anticipative actions
The Fig. 5 shows Bode diagrams for the standard CI, CI
with one anticipation angle ψ1 = 0.18π and CI with two
anticipation angles ψ1 = 0.35π, ψ2 = 0.10π, where modu-
lus and phase properties are shown.
In spite of DF technique gives only an approximation an
analysis of high-order harmonics is clearly desirable, so for
this purpose we examine how this higher order harmonics
are related with CI output response.
For this purpose, we show in Fig. 6 for a temporal simula-
tion response for a CI with double-reset anticipation angles
IET Control Theory Appl., pp. 1–14
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 input signal defined by E = 1, ω = 1 and er (ψ) =
with
si n(ψ).
The results show the first harmonic (the one that DF uses
as an approximation) and a summation of the first 33th
harmonics taken from (7), in order that we can see how
this harmonics summation generates a very accurate output
response.
Next, in Fig. 7, a measure of the relevance of high-
order harmonics is shown, by displaying the values |C n|
|C1 |
for n = 3, 5, 7, . . .. It can be seen that the third harmonics
5
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Fig. 7 Harmonic amplitude ratios for CI reset systems with anticipative actions

Fig. 8 Error norms over a complete period

has a relative weight of  30% (it depends on the type
of anticipation) and that higher-order harmonics have a
decreasing influence as n increases.
Finally, in Fig. 8, we can see the normalised L2 norm of
the error signal en = y(ψ) − yn (ψ) defined by
2π
en (ψ)2 dψ
||en || = 02π
2
where y(ψ) is the actual CI output and yn (ψ) is the
n-order approximation, obtained with the first n Fourier
components.
Usually a reset control system output is associated with a
plant control input, with this information we can study and
estimate how is the plant behaviour and filtering properties
for this higher harmonics when the reset controller is based

y(ψ)2 dψ on a CI reset system.

0

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⎧
4 Frequency analysis of FORE reset ⎪
⎪ 0 n = 2, 4, 6, . . .
⎪
⎪
⎨ −aπ
The FORE is a reset system that has a linear base system 2ωe ω
Gnψq = −
⎪
⎪ jnω + a
⎪
⎪
⎩ jnψq+1 −aψωq+1 −aψq
1 (e e − ejnψq e ω ) n = 1, 3, 5, . . .
R(s) = ⎧
s+a ⎪ 0 n = 2, 4, 6, . . .
⎪
⎪
⎪
⎪
⎪
⎪
where −a is the pole. Notice that the Clegg Integrator reset ⎪
⎪
2π
⎪
⎪
systems is a particular case of FORE with a = 0. ⎪
⎪ jω +a
⎪
⎪
We will apply Fourier analysis to this kind of systems ⎪
⎪
⎪
⎪  Q −aπ
4ωe ω (ω cos ψq + a sin ψq )
to calculate the Fourier coefficients and the DF under the ⎪
⎪
same previous hypothesis. After that we will study frequency ⎨−
⎪
j(ω2 + a2 )(jω + a)
properties of FORE systems focusing on how this proper- HnFQ = q=0
⎪
⎪
ties change as a function of the relation parameter δ(a, ω) ⎪ jψq+1 −aψωq+1
⎪
−aψq
⎪
⎪(e e − ejψq e ω ) n=1
defined by ⎪
⎪
⎪
⎪
δ(a, ω) =
a ⎪
⎪  Q −aπ
4ωe ω (ω cos ψq + a sin ψq )
⎪
⎪−
ω ⎪
⎪ j(ω2 + a2 )(jnω + a)
⎪
⎪
⎪
⎪
q=0
which relates the input frequency signal with the design pole ⎪
⎪
value. ⎩ jnψq+1 −aψωq+1 −aψq
(e e − ejnψq e ω ) n = 3, 5, . . .

4.1 Fourier analysis of FORE reset systems Combining these results with (29), the expressions of the
Fourier coefficients are (see equation at the bottom of the
The base linear system of FORE has a state-space model
page)
defined by
Now we particularise these expressions to different cases
of anticipative actions.
Ar = −a B r = 1 C r = 1 Dr = 0 Case 0: Standard FORE
In this case, {ψq } = {0}

thus from ‘Appendix 1: Notation Definitions’ we have

E
Cn(FORE0 ) =
4jπ
1 ⎧
D− = ⎪ 0 n = 2, 4, 6, . . .
jω + a ⎪
⎪
⎪
⎪
1 ⎪
⎨ 2π
−aπ
4ω2 (1 + e ω )
D+ = − n=1
jω − a · jω + a j(ω2 + a2 )(jω + a)
⎪
⎪
⎪
⎪ −aπ
1 ⎪
⎪ 4ω2 (1 + e ω )
Dn− = ⎩− n = 3, 5, 7, . . .
jnω + a j(ω2 + a2 )(jnω + a)
2(ω cos ψq + a sin ψq )
D(ψq ) =
j(ω2 + a2 ) The DF is
2
F(π − ψQ , π ) =  
j(ω + a2 )
2
1
−aπ
2ω2 (1 + e ω )
−aψQ DF (FORE0 )
= 1+j (8)
[e ω (ω cos ψQ + a sin ψQ ) − ω] jω + a π(ω2 + a2 )

⎧
⎪
⎪0 n = 2, 4, 6, . . .
⎪
⎪  −aψQ 
⎪
⎪
⎪
⎪
−aπ
4ωe ω e ω (ω cos ψQ + a sin ψQ ) − ω

⎪
⎪ −aψ1 −aπ
⎪
⎪ e jψ1
e ω + e ω
⎪
⎪ j(ω2 + a2 )(jω + a)
⎪
⎪
⎪
⎪
⎪  4ωe ω (ω cos ψq + a sin ψq ) jψq+1 −aψq+1

Q −aπ
⎪
⎪ 2π −aψq

E ⎨ + − e e ω − e jψq
e ω n=1
Cn(FORE) = jω + a q=0 j(ω2 + a2 )(jω + a)
4jπ ⎪
⎪  −aψQ 
⎪
⎪
⎪
⎪ 4ωe
−aπ
e ω (ω cos ψ + a sin ψ ) − ω

⎪
⎪
ω
Q Q −aψ1
⎪
⎪ e jnψ1
e + e
−aπ

⎪
ω ω
⎪
⎪ j(ω2 + a2 )(jnω + a)
⎪
⎪
⎪
⎪
⎪  4ωe ω (ω cos ψq + a sin ψq ) jnψq+1 −aψq+1

Q −aπ
⎪
⎪
−aψq
⎪
⎩ − e e ω − e jnψq
e ω n = 3, 5, 7, . . .
q=0
j(ω2 + a2 )(jnω + a)

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Case 1: FORE with one anticipative action.
π
In this case, {ψq } = {ψ1 } with 0 < ψ1 < (see equation
2
at the bottom of the page)
where
−aπ
n1 (ψ1 ) = ejnψ1 (ω cos ψ1 + a sin ψ1 )(1 + e ω )

The DF is

1 2ω11 (ψ1 )
DF(FORE1 ) = 1+j (9)
jω + a π(ω2 + a2 )
Case 2: FORE with two anticipative actions
π
In this case, {ψq } = {ψ1 , ψ2 } with 0 < ψ1 , ψ2 < , thus
2
the Fourier spectral coefficients are defined by (see equation
at the bottom of the page)
where
a(ψ1 −ψ2 )

n2 (ψ1 , ψ2 ) = (ω cos ψ1 + a sin ψ1 ) ejnψ1 − ejnψ2 e ω Fig. 9 Phase against reset anticipation Angle ψ1

+ (ω cos ψ2 + a sin ψ2 )
a(ψ1 −ψ2 ) −aπ

× ejnψ2 + ejnψ1 e ω e ω

The DF is

1 2ω12 (ψ1 , ψ2 )
DF(FORE2 ) = 1+j (10)
jω + a π(ω2 + a2 )

4.2 Frequency properties of FORE systems with

reset anticipations

We will investigate frequency properties of reset FORE

systems in the same way as done in Section 3 for Clegg
Integrator.
Fig. 9 shows phase properties for single reset anticipation
system given by (9) for different δ(a, ω) values. We can see
that

• For δ(a, ω) = 0, we have the same curve as in Clegg

Integrator, as expected. Fig. 10 Phase against reset anticipation angles ψ1 ψ2
• As δ(a, ω) grows, the phase lag is reduced.
• As δ(a, ω) grows, the phase lag becomes less dependent
on the reset anticipation angle.
• For all δ(a, ω) values a reset anticipation angle ψ  • As δ(a, ω) grows, the overall phase lag is reduced.
0.18π rad generates a minimum phase lag. • As δ(a, ω) grows, the sensitivity of phase lag with respect
on anticipation angle is reduced. This means that the sys-
The Fig. 10 shows phase properties when (11) is used tem became robust with respect to reset angle anticipation
for double-reset anticipation systems. Two global properties generation, so the design of anticipation blocks becomes less
arise from this results. critical.
⎧
⎪
⎪ 0 n = 2, 4, 6, . . .
⎪
⎪
⎪
E ⎨
2π 4ω
−  1 (ψ1 ) n = 1
Cn(FORE1 ) = jω + a j(ω 2 + a2 )(jω + a) 1
4jπ ⎪
⎪
⎪
⎪ 4ω
⎪
⎩−  1 (ψ1 ) n = 3, 5, 7, . . .
j(ω2 + a2 )(jnω + a) n

⎧
⎪
⎪0 n = 2, 4, 6, . . .
⎪
⎪
⎪
E ⎨
2π
− d j(ω2 +a4ω 2
2 )(jω+a) 1 (ψ1 , ψ2 ) n=1
Cn(FORE2 ) = jω + a
4jπ ⎪
⎪
⎪
⎪ 4ω
⎪
⎩−  2 (ψ1 , ψ2 ) n = 3, 5, 7, . . .
j(ω + a )(jnω + a) n
2 2

8 IET Control Theory Appl., pp. 1–14

© The Institution of Engineering and Technology 2013 doi: 10.1049/iet-cta.2011.0498

Fig. 11 Bode diagrams for FORE with anticipative actions
Fig. 12 Harmonic amplitude ratios for FORE with anticipative actions
Bode diagrams based on DF are shown in Fig. 11 for
FORE reset systems with no anticipation angle, with one
anticipation angle ψ1 = 0.18π and with two anticipation
angles ψ1 = 0.35π , ψ2 = 0.10π, for several δ(a, ω) values.
Some properties bring out from this figure.
• Modulus properties are quite similar for all anticipation
cases for a selected δ(a, ω).
• As δ(a, ω) grows, the bandwidth increases.
• Double anticipation phase lag is smaller, followed by
single anticipation.
IET Control Theory Appl., pp. 1–14
doi: 10.1049/iet-cta.2011.0498
www.ietdl.org
• Double anticipation phase curves are quite planar, so its
behaviour is less sensitive to δ(a, ω) changes than single
anticipation and standard FORE. This means that a designed
pole position will have more constant phase properties when
the input frequency changes.
Finally, as we have shown in the CI analysis, the Fig. 12
displays the percentage relations between the Fourier spec-
tral coefficients amplitudes for different δ(a, ω) values.
We can see how as δ(a, ω) grows the relative contribution
of higher-order terms on the output response is reduced, so
9
© The Institution of Engineering and Technology 2013
www.ietdl.org
To show an example on how to overcome linear limits
with a reset technique, we set up the loop delay as τd = 1
and compare the results for four proposal controllers: a stan-
dard integrator (SI), a CI, a Clegg integrator with single
anticipation angle ψ1 = 0.18π (CI1 ), and a CI with double-
reset anticipation angles ψ1 = 0.35π , ψ2 = 0.10π (CI2 ).
Using the DF equations (5), (6) and (7), the open-
loop frequency responses for this system with the proposed
controllers are
KSI −jτd ω
LSI (jω) = e
jω
 
KCI 4
LCI (jω) = 1+j e−jτd ω
jω π
 
KCI1 4
LCI1 (jω) = 1 + j cos ψ1 ejψ1 e−jωτd
jω π
Fig. 13 Open-loop Bode diagram for the designed controllers KCI2 2
LCI2 (jω) = (1 + j (cos ψ1 (ejψ1 − ejψ2 )
jω π
we can expect that the DF approximation quality becomes + cos ψ2 (ejψ1 + ejψ2 )))e−jωτd
better.
To achieve the ωc = 4π9 design specification the controllers
gains must be adjusted, so using the previous equations
5 Application example
KSI = ωc = 1.3963
Consider a simple plant modelled by a pure time-delay ωc
P(s) = e−τd s , so we study the application of a reset technique KCI = = 0.8624
to improve the control-loop performance and, if possible, to 1.619
ωc
overcome the linear limits with respect to the loop delay τd KCI1 = = 1.3937
The design objective for the open-loop response is chosen 1.0018
to be ωc
KCI2 = = 1.9533
0.7148
4π
Crossover frequency : ωgc = Figs. 13 and 14 show the Bode diagrams and the Nyquist
9
path for the open-loop response for the obtained controllers.
Crossover frequency slope : ngc = −1 In Fig. 14, we can see the segment of the minimum distance
Phase margin : ϕm = 60◦ of the Nyquist path to the instability point [−1, 0], which
1
equals to Smax (being Smax the maximum sensibility peak).
Now we point out that for any linear controller C(s) there are From this figures
some frequency-domain limitations that cannot be avoided
by the control loop. To find them, we factor the process 1. The controllers (CI ), (CI1 ) and (CI2 ) overcome the design
transfer function P(s) as specifications, even for a delay τd = 1 that exceeds the linear
limit τdmax = 0.3750.
P(s) = Pmp (s)Pap (s) 2. As we add new reset angles, the value of the controller
gain must grow up to reach the ωgc design specification,
∗
where Pmp (s) is the minimum phase part and Pap (s) is the
normalised non-minimum phase part, so that

Pap (jω) = e−jωh

Pmp (jω) = 1

It follows from the Bode’s relations that (see [23])

π
−argPap (jωgc ) ≤ π − ϕm + ngc
2
with argPap (jωgc ) = −ωgc τd . The constrain imposed by the
loop delay and the design objectives leads to

π − ϕm + ngc π2
h≤ = 0.3750 s (11)
ωgc

so is not possible to design a linear controller that fits the

design objectives with a loop delay τd ≥ τdmax = 0.3750. Fig. 14 Nyquist path for the designed controllers

10 IET Control Theory Appl., pp. 1–14

© The Institution of Engineering and Technology 2013 doi: 10.1049/iet-cta.2011.0498
 www.ietdl.org
which implies an increment on the speed of response when For CI2 we have to implement two anticipation blocks with
the system flows as the base linear system. transfer functions as
1
3. The value of Smax and ϕm are increased with the introduc-
tion of reset angles, so the open-loop becomes robust. 1 + TdCI
1
s
A1CI2 (s) = 2

4. An unsolved question in this paper is to calculate the 1 + TiCI2 s

1

maximum number of reset angles and its values that can be

1 + TdCI
2
s
applied to the system in order to reach the limit of this new A2CI2 (s) = 2

frequency properties. 1 + TiCI2 s

2

At this point, we simulate the closed-loop response with no with relations

reference signal and initial conditions 1
TiCI2
= 0.05 TdCI
1
2

Initial control state : xc (0) = 1 2

TiCI = 0.05 TdCI
2
  2 2

π
Output (delay buffer values) : y(θ ) = xc (0) sin θ In this case, the reset anticipation angles are ψ1 = 0.35π
2τd and ψ2 = 0.10π , so
withθ ∈ [−τd , 0]
tan−1 (TdCI
1
2
ωgc ) − tan−1 (0.05TdCI
1
2
ωgc ) = ψ1
allowing us to analyse the closed-loop autonomous system tan−1 (TdCI
2
ωgc ) − tan−1 (0.05TdCI
2
ωgc ) = ψ2
evolution. 2 2

A realisation condition is introduced to complete the this lead us to

closed-loop simulation: ‘reset anticipation trigger networks
(block A in Fig. 1) must be designed using realisable trans- 1
TdCI = 2.1402
2
fer function blocks’, so for CI1 the angle anticipation block
has a transfer function
1
TiCI2
= 0.1070

1 + TdCI1 s
2
TdCI2
= 0.2464
ACI1 (s) =
1 + TiCI1 s 2
TiCI2
= 0.0123

where a simple relation between TdCI1 and TiCI1 is estab- It has to be pointed out that this anticipation networks are
lished calculated to generate the correct reset angle only for a spe-
TiCI1 = 0.05 TdCI1 cific frequency ωgc , so this implementations generate the
correct reset angle only for the specified frequency ωgc ,
TdCI1 is now calculated to achieved required reset angle but the anticipation is different for other frequency ranges.
ψ1 = 0.18π at ωgc , so However, since the design objectivity are formulated at
ω = ωgc , the solutions satisfy exactly theses objectives. The
tan−1 (TdCI1 ωgc ) − tan−1 (0.05TdCI1 ωgc ) = ψ1 problem of generating adequate anticipation angles for larger
frequency ranges is out of the scope of this paper, and will
that gives us be treated in future work (for example, the anticipation can
be carried out by means of of quadratic expressions on the
TdCI1 = 0.4896 augmented state space).
The results of the time simulation are shown in Fig. 15
TiCI1 = 0.0245 where, as expected, the response of the reset systems reach

Fig. 15 Time plots of the delay buffer output on each integrator scenario for autonomous system with non-reference and non-zero initial
conditions

IET Control Theory Appl., pp. 1–14 11

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www.ietdl.org
better stability properties and speed when we apply the
multiple reset anticipative trigger solutions.
These results, based on frequency-domain compensation
for a single delay system, show us how the phase lead
properties of reset controllers can be used to overcome
linear limitations in delay systems: the trade-off between
bandwidth and phase margin has been alleviated with reset
control.
6 Conclusions
In this paper, we have investigated, in the frequency-domain,
reset controllers with anticipative reset. The main novelty
is the proposal of several or multiple anticipative reset
conditions.
The central work of the paper has been to compute the
harmonic coefficients of the sinusoidal response of the reset
controller. As far as we know, this analysis for a gen-
eral reset controller with arbitrary reset anticipations is not
available in the literature.
It should be noted that, although the results follow from
the application of Fourier analysis, it is not straightfor-
ward to give a generic and compact final expression: it
requires a careful manipulation of integrals and appropriate
introduction of intermediate functions (see the appendix).
The final example has shown the potentials of the antic-
ipative reset to improve the frequency-domain linear trade-
offs, in particular the bandwidth against relative stability
trade-offs of time-delay systems.
Future work will consider, among other possibilities,
a more quantitative formalisation of the overcoming of
frequency-domain limitations, as well as their translation to
time-domain and a rigorous Lyapunov stability analysis of
the proposed controllers.
14 Baños, A., Carrasco, J., Barreiro, A.: ‘Reset times-dependent stabil-
ity of reset control with unstable base systems’, IEEE Trans. Autom.
Control, 2011, 56, (1)
15 Vidal, A., Baños, A., Moreno, J.C., Berenguel, M.: ‘PI+CI compen-
sation with variable reset: application on solar collector field’. 34th
Annual Conf. on IEEE Industrial Electronics Society, Orlando, Florida,
EE.UU. 2008
16 Vidal, A., Baños, A.: ‘Reset compensation for temperature control:
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appear
18 Baños, A., Dormido, S., Barreiros, A.: ‘Limit cycles analysis in reset
control systems with reset band’, Nonlinear Anal.: Hybrid Syst., 2011,
5, (2), pp. 163–173
19 Baños, A., Dormido, S., Barreiros, A.: ‘Reset control systems with
reset band: well-posedness and limit cycles analysis’, Mediterranean
Control Conf. MED’11, Corfu, Greece, 2011
20 Baños, A., Dormido, S., Barreiro, A.: ‘Stability Analysis of reset con-
trol systems with reset band’, Third IFAC Conf. on Analysis and
Design of Hybrid Systems, 2009
21 Baños, A., Barreiro, A.: ‘Delay-independent stability of reset systems’,
IEEE Trans. Autom. Control, 2009, 54, (2), pp. 341–346
22 Guo, Y., Wang, Y., Xie, L., Zheng, J.: ‘Frequency-domain properties
of reset systems with application in hard-disk-drive systems’, IEEE
Trans. Control Syst. Technol., 2009, 17, (6)
23 Aström, K.J., Murray, R.M.: ‘Feedback systems’ (Princeton University
Press, 2008)
8 Appendix 1: System solution and Fourier
analysis
8.1 Notation definitions
To obtain the system time response solution and the
frequency response based on Fourier analysis, first we
introduce some definitions

7 References
D− = (jωI − Ar )−1 (12)
1 Clegg, J.C.: ‘A nonlinear integrator for servomechanism’, Trans.
+ −1
A.I.E.E.m, Part II, 1958, 77, pp. 41–42 D = (jωI + Ar ) (13)
2 Horowitz, I.M., Rosenbaum, P.: ‘Nonlinear design for cost of feedback
reduction in systems with large parameter uncertainty’, Int. J. Control, Dn− = (jnωI − Ar ) −1
(14)
1975, 24, (6), pp. 977–1001
3 Krishnan, K.R., Horowitz, I.M.,: ‘Synthesis of a nonlinear feed-
back system with significant plant-ignorance for prescribed system
tolerances’, Int. J. Control, 1974, 19, (4), pp. 689–706 Now we set some function definitions
4 Beker, O., Hollot, C.V., Chait, Y.: ‘Plant with integrator: an example
of reset control overcoming limitations of linear systems’, IEEE Trans.
Autom. Control, 2001, 46, (11), pp. 1797–1799
5 Beker, O., Hollotb, C.V., Chait, Y., Han, H.: ‘Fundamental properties D(ψ) =D− e−jψ + D+ ejψ (15)
of reset control systems’, Automatica, 2004, 40, pp. 905–915 Ar

6 Chait, Y., Hollot, C.: ‘On Horowitzs contributions to reset control’, F(ψ0 , ψ1 ) =D− ejψ1 − ejψ0 e ω (ψ1 −ψ0 )
Int. J. Robust Nonlinear Control, 2002, pp. 335–355 Ar

7 Zheng, Y., Chait, Y., Hollot, C.V., Steinbuch, M., Norg, M.: ‘Exper-
imental demonstration of reset control design, control engineering
+ D+ e−jψ1 − e−jψ0 e ω (ψ1 −ψ0 ) (16)
practice’, Control Eng. Pract., 2000, 8, pp. 113–120  ψ1
Ar ψ
8 Beker, O., Hollot, C.V., Chait, Y.: ‘Plant with an integrator: anations Gn (ψ0 , ψ1 ) = −e ω e−jnψ dψ
of linear feedback’, IEEE Trans. Autom. Control, 2001 ψ0
9 Aangenent, W.H.T.M., Witvoet, G., Heemels, W.P.M.H., van de  ψ1 ψ0

Molengraft, M.J.G., Steinbuch, M.: ‘Performance analysis of reset − −
control systems’, Int. J. Robust Nonlinear Control, 2009 = ωDn− e ωDn− −e ωDn− (17)
10 Loquen, T., Tarbouriech, S., Prieur, C.: ‘Stability of reset control sys-
tems with nonzero reference’. Proc. 47th IEEE Conf. on Decision and
 ψ1
Control, Cancun, Mexico, 9–11 December, 2008 Hn+ (ψ0 , ψ1 ) = e−j(n+1)ψ dψ (18)
11 Nešić, D., Zaccarian, L., Teel, A.R.: ‘Stability properties of reset ψ0
systems’, Automatica, 2008, 44, (8), pp. 2019–2026  ψ1
12 Nešić D., Zaccarian, L., Teel, A.R.: ‘First order reset elements and
the Clegg integrator revisited’. Proc. American Control Conf., 2005,
Hn− (ψ0 , ψ1 ) = e−j(n−1)ψ dψ (19)
ψ0
vol. 1, pp. 563–568  ψ1
13 Guo, Y., Wang, Y., Xie, L., Zheng, J.: ‘Stability analysis and design
of reset systems: theory and an application’, Automatica, 2009, 45 HnF (ψ0 , ψ1 ) = F(ψ0 , ψ)e−jnψ dψ (20)
pp. 492–497 ψ0

12 IET Control Theory Appl., pp. 1–14

© The Institution of Engineering and Technology 2013 doi: 10.1049/iet-cta.2011.0498
 www.ietdl.org
and finally we define the following functions 
Q 
− D(ψq ) Gn (π − ψq , π − ψq+1 )
q=0
Gnψq = Gn (π − ψq , π − ψq+1 )
−Ar π
 −Ar (π−ψq )
−Ar π
− Gn (2π − ψq , 2π − ψq+1 )e ω (21) − Gn (2π − ψq , 2π − ψq+1 )e ω e ω


Q

Q
HnFQ = HnF (π − ψq , π − ψq+1 ) = D− Hn− (0, 2π ) − D(ψq )Gnψq e
−Ar (π −ψq )
ω
q=0
q=0

Q
(25)
+ HnF (2π − ψq , 2π − ψq+1 ) (22)
q=0
8.2 System solution
As we have assumed in Section 2.2 ‘Working hypothesis, The solution to the linear base system described by (1)
the Reset Trigger Law’ is fully described by a collection of with no reset actions and sinusoidal input is a well-known
Q angles {ψq } = {ψ1 , . . . , ψQ }. From now on we use some expression
mathematical expressions that use ψq variables expressions
with indices (q = 0, 1, . . . , Q + 1), so, in order to obtain a  t
solution, we need to set the 0 and Q + 1 indices E  
xr (t) = eAr (t−t0 ) xr (t0 ) + eAr (t−τ ) ejωτ − e−jωτ dτ Br
2j t0

ψ0∗ = π
∗
ψQ+1 =0 and from (4)

Ar (ψ−ψ0 )
‘with no reset actions associated to this limit angles unless xr (ψ) = e xr (ψ0 )
ω

some angle in the {ψq } collection is equal to one of this  ψ

limit values’. E Ar
−jψτ
+ e ω (e − e
(ψ−ψτ ) jψτ
) dψτ Br
Operating with the defined functions on (18), (19) and 2j ψ0
(22), gives
(ψ = ωt ∧ ψτ = ωτ )
 2π
Hn− (0, 2π ) = e−j(n−1)ψ dψ From (16) we obtain the state solution for the linear base
0
system without reset actions as

Q

= Hn− (π − ψq , π − ψq+1 ) Ar E
q=0 xr (ψ) = e ω (ψ−ψ0 ) xr (ψ0 ) + F(ψ0 , ψ)Br (26)
2j

Q

+ Hn− (2π − ψq , 2π − ψq+1 ) Introducing reset actions as presented in ‘2.2 Working

q=0
hypothesis’ the system state solution for (4) is given by a
 piecewise function
2π n=1
= (23)
0 n>1 Ar ψ

 2π xr (ψ) = e xr (0)
ω

Hn+ (0, 2π ) = e−j(n+1)ψ dψ E

+ F(0, ψ)Br 0 < ψ < π − ψ1
0 2j

Q E
= Hn+ (π − ψq , π − ψq+1 ) xr (ψ) = F(π − ψq , ψ)Br π − ψq < ψ < π − ψq+1
2j
q=0 Ar (ψ−pi)
xr (ψ) = e xr (π )
ω

 Q

+ Hn+ (2π − ψq , 2π − ψq+1 ) E

+ F(π , ψ)Br π < ψ < 2π − ψ1
q=0 2j
E
=0 (24) xr (ψ) = F(2π − ψq , ψ)Br 2π − ψq < ψ < 2π − ψq+1
2j

Q

HnFQ = HnF (π − ψq , π − ψq+1 )

After a transient, a steady-state response must be reached
q=0
to apply Fourier analysis (conditions for this steady-state

Q response could be find in [22]), which means
+ HnF (2π − ψq , 2π − ψq+1 )
q=0 E
xr (0− ) = −xr (π − ) = − F(π − ψQ , π )Br
−
=D Hn− (0, 2π) 2j

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We use this steady-state condition on the defined piece- 
Q

wise function to set a final solution to the state evolution F(π − ψQ , π ) + HnF (π − ψq , π − ψq+1 )
(see (27)) q=0

 Q
8.3 Fourier analysis + HnF (2π − ψq , 2π − ψq+1 )
q=0
Fourier analysis allows to represent any periodic function
Cr E  ψ0 
by sums of simpler trigonometric functions, giving us an Br = Gn F(π − ψQ , π ) + HnFQ Br
expression for the system output as 2j


∞ The second integration term is
yr (ψ) = Cn e−jnψ  2π
Dr er (ψ)e−jnψ dψ
n=−∞
 2π (28)
1 0
Cn = (Cr xr (ψ) + Dr er (ψ))e−jnψ dψ 
2π Dr E 2π −j(n−1)ψ
0
= (e − e−j(n+1)ψ ) dψ
2j 0
Using the state solution equation (27) and the notation def-
Dr E −
initions, we can operate with Fourier spectral terms (Cn ) to = [Hn (0, 2π ) − Hn+ (0, 2π )]
obtain 2j
 2π =
Dr E −
H (0, 2π )
Cr xr (ψ)e−jnψ dψ 2j n
0
 π −ψ1 Finally, both terms are used to solve the Fourier spectral
Cr E Ar ψ
= −e ω F(π − ψQ , π)e−jnψ dψ coefficients as
2j 0
Q  π −ψq+1
 E   ψ0  
−jnψ Cn = Cr Gn F(π − ψQ , π ) + HnFQ Br + Dr Hn− (0, 2π )
+ F(π − ψq , ψ)e dψ 4π j
q=0 π −ψq (29)
 2π −ψ1
Ar ψ −Ar π
+ e ω e ω F(π − ψQ , π)e−jnψ dψ The DF technique is used as an approximation to develop a
π frequency-domain analysis, which can be obtained from the
Q  2π −ψq+1
 first Fourier spectral coefficient as

−jnψ
+ F(2π − ψq , ψ)e dψ Br
2π −ψq 2j Cr FQ
q=0 DF = C1 = (G ψ0 F(π − ψQ , π ) + H1 )Br + Dr
E 2π j 1
Applying the notation definitions this expression becomes (30)
 2π The DF equation (30) is useful to create approximate fre-
Cr xr (ψ)e−jnψ dψ quency plots for non-linear system and use classical linear
0
techniques to study the systems frequency behaviour, and
Cr E  −Ar π

(29) could be used to deploy harmonics quantification and

= Gn (0, π − ψ1 ) − Gn (π, 2π − ψ1 )e ω
2j set error limits for the DF approximation.

E Ar ψ

xr (ψ) = −e ω F(π − ψQ , π ) + F(0, ψ) Br 0 < ψ < π − ψ1

2j
E
xr (ψ) = F(π − ψq , ψ)Br π − ψq < ψ < π − ψq+1
2j
(27)
E Ar ψ −Ar π

xr (ψ) = e ω e ω F(π − ψQ , π ) + F(π , ψ) Br π < ψ < 2π − ψ1

2j
E
xr (ψ) = F(2π − ψq , ψ)Br 2π − ψq < ψ < 2π − ψq+1
2j

14 IET Control Theory Appl., pp. 1–14

© The Institution of Engineering and Technology 2013 doi: 10.1049/iet-cta.2011.0498