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This work presents a novel 'Constant in gain Lead in phase' (CgLp) elementusing nonlinear reset technique. PID is the industrial workhorse even to thisday in high-tech precision positioning applications. However, Bode's gain phaserelationship and waterbed effect fundamentally limit performance of PID andother linear controllers. This paper presents CgLp as a controlled nonlinearelement which can be introduced within the framework of PID allowing for wideapplicability and overcoming linear control limitations. Design of CgLp withgeneralized first order reset element (GFORE) and generalized second orderreset element (GSORE) (introduced in this work) is presented using describingfunction analysis. A more detailed analysis of reset elements in frequencydomain compared to existing literature is first carried out for this purpose.Finally, CgLp is integrated with PID and tested on one of the DOFs of a planarprecision positioning stage. Performance improvement is shown in terms oftracking, steady-state precision and bandwidth.

'Constant in gain Lead in phase' element - Application in precision motion control