Principles of a safe and high performing CRONE control of nonlinear systems

In order to extend the efficiency of linear fractional order controllers for nonlinear and preview systems, this paper shows how to design an optimal, robust and safe control-system. The robustness and safety of the control-system is achieved with a linear and fractional order feedback controller that takes into account model uncertainties and frequency-domain constraints. Complementary, a nonlinear model-based optimisation is used to design a nominal anticipative feedforward control and reference closed-loop trajectory. The computing time is considered in the implementation.