# Robust control with CRONE controllers

**URL:** <https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733>\
**Category:** Modelling & Simulations\
**Tags:** controlsystems\
**Created:** [May 5, 2025, 7:35pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733 "2025-05-05T19:35:18Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![ufechner7](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/ufechner7/32/51363_2.png) [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Post date:** [May 5, 2025, 7:35pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/1 "2025-05-05T19:35:18Z")

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Today I heard the first time about CRONE controllers. “The CRONE controller uses fractional-order calculus (non-integer order derivatives and integrals), offering more tuning flexibility and robustness, whereas traditional PID controllers use only integer-order operations”.

This is for SISO systems.

How can I implement it in Julia (for discrete time)?

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**Author:** ![baggepinnen](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/baggepinnen/32/693_2.png) [@baggepinnen](https://discourse.julialang.org/u/baggepinnen)\
**Post date:** [May 6, 2025, 4:26am UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/2 "2025-05-06T04:26:53Z")

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> **[SciFracX](https://github.com/SciFracX)**
>
> Make fractional order computing and modeling easier than ever. - SciFracX

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**Author:** ![ufechner7](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/ufechner7/32/51363_2.png) [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Post date:** [May 6, 2025, 12:11pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/3 "2025-05-06T12:11:26Z")

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Nice! Is there a tutorial or example of such a controllers somewhere?

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**Author:** ![baggepinnen](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/baggepinnen/32/693_2.png) [@baggepinnen](https://discourse.julialang.org/u/baggepinnen)\
**Post date:** [May 6, 2025, 12:20pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/4 "2025-05-06T12:20:55Z")

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> [@ufechner7](#):
>
> Is there a tutorial or example of such a controllers somewhere?

I’m not aware of any. If you accept using a high-order linear controller, there are lots of methods available, for example, you could adjust the phase of a PID controller with lead/lag filters and achieve similar results.

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**Author:** ![ufechner7](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/ufechner7/32/51363_2.png) [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Post date:** [May 6, 2025, 1:35pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/5 "2025-05-06T13:35:52Z")

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Nice paper using a CRONE controller: [https://asmedigitalcollection.asme.org/dynamicsystems/article/142/12/121002/1085819/A-Control-Solution-for-a-Tethered-Kite-Trajectory](https://asmedigitalcollection.asme.org/dynamicsystems/article/142/12/121002/1085819/A-Control-Solution-for-a-Tethered-Kite-Trajectory)

I might want to try this controller in Julia.

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<div class="post-metadata">

**Author:** ![baggepinnen](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/baggepinnen/32/693_2.png) [@baggepinnen](https://discourse.julialang.org/u/baggepinnen)\
**Post date:** [May 6, 2025, 3:36pm UTC](https://discourse.julialang.org/t/robust-control-with-crone-controllers/128733/6 "2025-05-06T15:36:59Z")

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The paper is paywalled

> [@ufechner7](#):
>
> I might want to try this controller in Julia.

Good luck 🙂