Second generation CRONE control

The first generation CRONE control consists of reducing the phase margin variations to phase variations of the plant around unit gain frequency in open loop ω_u, whereas the second generation CRONE control cancels directly the variations of the phase margin at the time of a reparametrization of the plant. As first generation CRONE control concept, second generation CRONE control concept is based on real non-integer derivation. A parametric identification method based on the simplex algorithm is proposed to synthesize the controller. As a conclusion, the robustness performance of the control are illustrated through a simulation example and compared with those obtained with a PID control